fix: Disable usage of rmw source timestamp on windows when using conn…

…extdds.

The windows rmw connextdds does not provide a value in source timestamp
nor in receive timestamp, therefore we fall back to current node time.

Signed-off-by: Janosch Machowinski <[email protected]>

rosbag2_transport/src/rosbag2_transport/recorder.cpp

@@ -134,6 +134,7 @@ class RecorderImpl
   rclcpp::Service<rosbag2_interfaces::srv::Resume>::SharedPtr srv_resume_;
   rclcpp::Service<rosbag2_interfaces::srv::Snapshot>::SharedPtr srv_snapshot_;
   rclcpp::Service<rosbag2_interfaces::srv::SplitBagfile>::SharedPtr srv_split_bagfile_;
+  bool rmw_has_time_stamping_support_ = true;
 
   std::atomic<bool> paused_ = false;
   std::atomic<bool> in_recording_ = false;
@@ -171,6 +172,15 @@ RecorderImpl::RecorderImpl(
             "The /clock topic needs to be discovered to record with sim time.");
   }
 
+#if defined _WIN32
+  // ConnvextDDS on Windows does currently not support time stamping, therefore we disable the feature
+  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") !=
+    std::string::npos)
+  {
+    rmw_has_time_stamping_support_ = false;
+  }
+#endif
+
   std::string key_str = enum_key_code_to_str(Recorder::kPauseResumeToggleKey);
   toggle_paused_key_callback_handle_ =
     keyboard_handler_->add_key_press_callback(
@@ -523,6 +533,23 @@ std::shared_ptr<rclcpp::GenericSubscription>
 RecorderImpl::create_subscription(
   const std::string & topic_name, const std::string & topic_type, const rclcpp::QoS & qos)
 {
+#ifdef _WIN32
+  if (!rmw_has_time_stamping_support_) {
+    return node->create_generic_subscription(
+      topic_name,
+      topic_type,
+      qos,
+      [this, topic_name, topic_type](std::shared_ptr<const rclcpp::SerializedMessage> message,
+      const rclcpp::MessageInfo &) {
+        if (!paused_.load()) {
+          writer_->write(
+            std::move(message), topic_name, topic_type, node->now().nanoseconds(),
+            0);
+        }
+      });
+  }
+#endif
+
   if (record_options_.use_sim_time) {
     return node->create_generic_subscription(
       topic_name,