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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Mar 27, 2024 · 8f8a48b · 8f8a48b
1 parent 6009815
commit 8f8a48b
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Showing 3 changed files with 5 additions and 2 deletions.
diff --git a/rosbag2_py/rosbag2_py/_transport.pyi b/rosbag2_py/rosbag2_py/_transport.pyi
@@ -40,6 +40,7 @@ class RecordOptions:
     compression_threads: int
     exclude_regex: str
     exclude_service_events: List[str]
+    exclude_topic_types: List[str]
     exclude_topics: List[str]
     ignore_leaf_topics: bool
     include_hidden_topics: bool

diff --git a/rosbag2_transport/src/rosbag2_transport/topic_filter.cpp b/rosbag2_transport/src/rosbag2_transport/topic_filter.cpp
@@ -170,8 +170,7 @@ bool TopicFilter::take_topic(
       }
     }
 
-    if (!record_options_.exclude_topic_types.empty() &&
-      topic_type_in_list(topic_type, record_options_.exclude_topic_types))
+    if (topic_type_in_list(topic_type, record_options_.exclude_topic_types))
     {
       return false;
     }

diff --git a/rosbag2_transport/test/rosbag2_transport/test_topic_filter.cpp b/rosbag2_transport/test/rosbag2_transport/test_topic_filter.cpp
@@ -248,6 +248,9 @@ TEST_F(TestTopicFilter, all_topics_and_exclude_type_topics)
   {
     EXPECT_TRUE(filtered_topics.find(topic) != filtered_topics.end()) << "Expected topic:" << topic;
   }
+
+  EXPECT_TRUE(filtered_topics.find("/localization") == filtered_topics.end());
+  EXPECT_TRUE(filtered_topics.find("/status") == filtered_topics.end());
 }
 
 TEST_F(TestTopicFilter, all_services_and_exclude_regex)