Merge branch 'dev/1.0.0' into wip/merge-rolling

ros2 · Oct 24, 2024 · bc6f6d6 · bc6f6d6
2 parents 24f479b + e6b7ecb
commit bc6f6d6
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diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -316,6 +316,9 @@ rmw_ret_t ServiceData::take_request(
     return RMW_RET_ERROR;
   }
 
+  memcpy(request_header->request_id.writer_guid, attachment.source_gid, RMW_GID_STORAGE_SIZE);
+
+
   request_header->source_timestamp = attachment.source_timestamp;
   if (request_header->source_timestamp < 0) {
     RMW_SET_ERROR_MSG("Failed to get source_timestamp from client call attachment");

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1859,6 +1859,8 @@ rmw_take_response(
     return RMW_RET_ERROR;
   }
 
+  memcpy(request_header->request_id.writer_guid, attachment.source_gid, RMW_GID_STORAGE_SIZE);
+
   request_header->source_timestamp = attachment.source_timestamp;
   if (request_header->source_timestamp < 0) {
     RMW_SET_ERROR_MSG("Failed to get source_timestamp from client call attachment");