From 8238cdc79e13b1660d684608c377139180be44d1 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 19 Jan 2024 14:27:36 +0800 Subject: [PATCH] Cleanup Signed-off-by: Yadunund --- rmw_zenoh_cpp/src/rmw_zenoh.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index 1432f4b2..57887309 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -619,12 +619,11 @@ rmw_create_publisher( // Set congestion_control to BLOCK if appropriate. z_publisher_options_t opts = z_publisher_options_default(); + opts.congestion_control = Z_CONGESTION_CONTROL_DROP; if (publisher_data->adapted_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL && publisher_data->adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) { opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK; - } else { - opts.congestion_control = Z_CONGESTION_CONTROL_DROP; } // TODO(clalancette): What happens if the key name is a valid but empty string? publisher_data->pub = z_declare_publisher( @@ -1383,7 +1382,6 @@ rmw_create_subscription( RMW_SET_ERROR_MSG("unable to create zenoh subscription"); return nullptr; } - printf("Created querying sub %s\n", owned_key_str._cstr); } // Create a regular subscriber for all other durability settings. else { @@ -1401,7 +1399,6 @@ rmw_create_subscription( RMW_SET_ERROR_MSG("unable to create zenoh subscription"); return nullptr; } - printf("Created regular sub %s\n", owned_key_str._cstr); } auto undeclare_z_sub = rcpputils::make_scope_exit(