From 59b1bcb779bcafbb1a89ced5297d182e6e0d0c6b Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Wed, 20 Nov 2019 15:37:38 +0000
Subject: [PATCH] Further changes after rebasing with master

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp   | 1 +
 .../include/rmw_fastrtps_cpp/subscription.hpp             | 4 +++-
 rmw_fastrtps_cpp/src/rmw_init.cpp                         | 8 +++++++-
 rmw_fastrtps_cpp/src/rmw_node.cpp                         | 3 +++
 4 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
index ce56a2c7e..e59b3ccd1 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
@@ -27,6 +27,7 @@ create_publisher(
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
+  const rmw_publisher_options_t * publisher_options,
   bool keyed,
   bool create_publisher_listener);
 
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
index be7f0791d..a35d03f15 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
@@ -16,6 +16,8 @@
 #define RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_
 
 #include "rmw/rmw.h"
+#include "rmw/subscription_options.h"
+
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 
 namespace rmw_fastrtps_cpp
@@ -27,7 +29,7 @@ create_subscription(
   const rosidl_message_type_support_t * type_supports,
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
-  bool ignore_local_publications,
+  const rmw_subscription_options_t * subscription_options,
   bool keyed,
   bool create_subscription_listener);
 
diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
index a2cbca78a..9db66bd11 100644
--- a/rmw_fastrtps_cpp/src/rmw_init.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -18,6 +18,7 @@
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw/init.h"
 #include "rmw/init_options.h"
+#include "rmw/publisher_options.h"
 #include "rmw/rmw.h"
 
 #include "rmw_dds_common/context.hpp"
@@ -95,10 +96,14 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   rmw_dds_common::Context * common_context = nullptr;
   CustomParticipantInfo * participant_info = nullptr;
   rmw_publisher_t * publisher = nullptr;
+  rmw_publisher_options_t publisher_options = rmw_get_default_publisher_options();
   rmw_ret_t ret = RMW_RET_OK;
   rmw_subscription_t * subscription = nullptr;
+  rmw_subscription_options_t subscription_options = rmw_get_default_subscription_options();
   rmw_qos_profile_t qos = rmw_qos_profile_default;
 
+  subscription_options.ignore_local_publications = true; // This is currently not implemented in fastrtps
+
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(options, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
@@ -149,6 +154,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
     "_participant_info",
     &qos,
+    &publisher_options,
     false,  // our fastrtps typesupport doesn't support keyed topics
     true);  // don't create a publisher listener
   if (nullptr == publisher) {
@@ -161,7 +167,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     rosidl_typesupport_cpp::get_message_type_support_handle<ParticipantEntitiesInfo>(),
     "_participant_info",
     &qos,
-    true,  // ignore_local_publications, currently not implemented
+    &subscription_options,
     false,  // our fastrtps typesupport doesn't support keyed topics
     true);  // don't create a subscriber listener
   if (nullptr == subscription) {
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
index 516459910..cda891e1c 100644
--- a/rmw_fastrtps_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -41,6 +41,9 @@ rmw_create_node(
   const rmw_security_options_t * security_options,
   bool localhost_only)
 {
+  (void)domain_id;
+  (void)security_options;
+  (void)localhost_only;
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     init context,