From 40fe5ed049851e85370cdc94d4bbaa3bda07a3f8 Mon Sep 17 00:00:00 2001
From: Alessandro Bottero <external.Alessandro.Bottero@bosch-si.com>
Date: Fri, 26 Oct 2018 13:57:40 +0200
Subject: [PATCH 01/12] GH-27 Implement discovery for new topics after startup

- this allows new topics to be discovered also after startup.
- as a consquence, ros2 bag record won't throw any exception anymore if the specified topics are not available at startup
- each time the recorder subscribes to a new topic, this will be logged to console
---
 .../rosbag2_test_common/publisher_manager.hpp |  3 -
 .../test_rosbag2_record_end_to_end.cpp        |  5 +-
 .../src/rosbag2_transport/recorder.cpp        | 65 ++++++++++++-------
 .../src/rosbag2_transport/recorder.hpp        |  3 +
 .../src/rosbag2_transport/rosbag2_node.cpp    |  6 --
 .../test/rosbag2_transport/test_record.cpp    |  4 +-
 .../rosbag2_transport/test_rosbag2_node.cpp   | 11 ++++
 7 files changed, 59 insertions(+), 38 deletions(-)

diff --git a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
index 9c0c41aad..a75baf689 100644
--- a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
+++ b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
@@ -41,9 +41,6 @@ class PublisherManager
     auto publisher_node = std::make_shared<rclcpp::Node>("publisher" + std::to_string(counter++));
     auto publisher = publisher_node->create_publisher<T>(topic_name);
 
-    // We need to publish one message to set up the topic for discovery
-    publisher->publish(message);
-
     publishers_.push_back([publisher, topic_name, message, expected_messages](
         CountFunction count_stored_messages) {
         if (expected_messages != 0) {
diff --git a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
index d5d28293a..408d2773a 100644
--- a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
+++ b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
@@ -25,15 +25,16 @@ TEST_F(RecordFixture, record_end_to_end_test) {
   auto message = get_messages_primitives()[0];
   message->string_value = "test";
   size_t expected_test_messages = 3;
-  pub_man_.add_publisher("/test_topic", message, expected_test_messages);
 
   auto wrong_message = get_messages_primitives()[0];
   wrong_message->string_value = "wrong_content";
-  pub_man_.add_publisher("/wrong_topic", wrong_message);
 
   auto process_handle = start_execution("ros2 bag record --output " + bag_path_ + " /test_topic");
   wait_for_db();
 
+  pub_man_.add_publisher("/test_topic", message, expected_test_messages);
+  pub_man_.add_publisher("/wrong_topic", wrong_message);
+
   rosbag2_storage_plugins::SqliteWrapper
     db(database_path_, rosbag2_storage::storage_interfaces::IOFlag::READ_ONLY);
   pub_man_.run_publishers([this, &db](const std::string & topic_name) {
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index d747f05b6..4107503f2 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -14,9 +14,12 @@
 
 #include "recorder.hpp"
 
+#include <algorithm>
+#include <future>
 #include <memory>
 #include <string>
 #include <utility>
+#include <vector>
 
 #include "rosbag2/writer.hpp"
 #include "rosbag2_transport/logging.hpp"
@@ -30,32 +33,10 @@ Recorder::Recorder(std::shared_ptr<rosbag2::Writer> writer, std::shared_ptr<Rosb
 
 void Recorder::record(const RecordOptions & record_options)
 {
-  auto topics_and_types = record_options.all ?
-    node_->get_all_topics_with_types() :
-    node_->get_topics_with_types(record_options.topics);
-
-  if (topics_and_types.empty()) {
-    throw std::runtime_error("No topics found. Abort");
-  }
-
-  for (const auto & topic_and_type : topics_and_types) {
-    auto topic_name = topic_and_type.first;
-    auto topic_type = topic_and_type.second;
-
-    auto subscription = create_subscription(topic_name, topic_type);
-    if (subscription) {
-      subscriptions_.push_back(subscription);
-      writer_->create_topic({topic_name, topic_type, record_options.rmw_serialization_format});
-      ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Subscribed to topic '" << topic_name << "'");
-    }
-  }
-
-  if (subscriptions_.empty()) {
-    throw std::runtime_error("No topics could be subscribed. Abort");
-  }
-
-  ROSBAG2_TRANSPORT_LOG_INFO("Subscription setup complete.");
+  ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
+  auto discovery_future = launch_topics_discovery(record_options.topics);
   rclcpp::spin(node_);
+  discovery_future.wait();
   subscriptions_.clear();
 }
 
@@ -83,4 +64,38 @@ Recorder::create_subscription(
   return subscription;
 }
 
+std::future<void> Recorder::launch_topics_discovery(std::vector<std::string> topics)
+{
+  auto subscribe_to_topics = [this, topics] {
+      while (rclcpp::ok()) {
+        auto all_topics_and_types = topics.empty() ?
+          node_->get_all_topics_with_types() :
+          node_->get_topics_with_types(topics);
+
+        for (const auto & topic_with_type : all_topics_and_types) {
+          std::string topic_name = topic_with_type.first;
+          bool already_subscribed = std::find(
+            subscribed_topics_.begin(),
+            subscribed_topics_.end(),
+            topic_with_type.first) != subscribed_topics_.end();
+
+          if (!already_subscribed) {
+            std::string topic_type = topic_with_type.second;
+            auto subscription = create_subscription(topic_name, topic_type);
+            if (subscription) {
+              subscribed_topics_.push_back(topic_name);
+              subscriptions_.push_back(subscription);
+              writer_->create_topic({topic_name, topic_type});
+              ROSBAG2_TRANSPORT_LOG_INFO_STREAM(
+                "Subscribed to topic '" << topic_name << "'");
+            }
+          }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      }
+    };
+
+  return std::async(std::launch::async, subscribe_to_topics);
+}
+
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index afba018b3..3cfb8fe5d 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -15,6 +15,7 @@
 #ifndef ROSBAG2_TRANSPORT__RECORDER_HPP_
 #define ROSBAG2_TRANSPORT__RECORDER_HPP_
 
+#include <future>
 #include <memory>
 #include <string>
 #include <vector>
@@ -42,10 +43,12 @@ class Recorder
 private:
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
+  std::future<void> launch_topics_discovery(std::vector<std::string> topics = {});
 
   std::shared_ptr<rosbag2::Writer> writer_;
   std::shared_ptr<Rosbag2Node> node_;
   std::vector<std::shared_ptr<GenericSubscription>> subscriptions_;
+  std::vector<std::string> subscribed_topics_;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_node.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_node.cpp
index b9ee61bfb..e73add517 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_node.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_node.cpp
@@ -129,9 +129,6 @@ std::unordered_map<std::string, std::string> Rosbag2Node::get_topics_with_types(
     }
   }
 
-  // TODO(Martin-Idel-SI): This is a short sleep to allow the node some time to discover the topic
-  // This should be replaced by an auto-discovery system in the future
-  std::this_thread::sleep_for(std::chrono::milliseconds(100));
   auto topics_and_types = this->get_topic_names_and_types();
 
   std::map<std::string, std::vector<std::string>> filtered_topics_and_types;
@@ -149,9 +146,6 @@ std::unordered_map<std::string, std::string> Rosbag2Node::get_topics_with_types(
 std::unordered_map<std::string, std::string>
 Rosbag2Node::get_all_topics_with_types()
 {
-  // TODO(Martin-Idel-SI): This is a short sleep to allow the node some time to discover the topic
-  // This should be replaced by an auto-discovery system in the future
-  std::this_thread::sleep_for(std::chrono::milliseconds(100));
   return filter_topics_with_more_than_one_type(this->get_topic_names_and_types());
 }
 
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 73f10893c..515753399 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -37,12 +37,12 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   string_message->string_value = "Hello World";
   std::string string_topic = "/string_topic";
 
+  start_recording({false, {string_topic, array_topic}});
+
   pub_man_.add_publisher<test_msgs::msg::Primitives>(
     string_topic, string_message, 2);
   pub_man_.add_publisher<test_msgs::msg::StaticArrayPrimitives>(
     array_topic, array_message, 2);
-
-  start_recording({false, {string_topic, array_topic}, "rmw_format"});
   run_publishers();
   stop_recording();
 
diff --git a/rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp b/rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp
index f11620590..b785afe57 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_rosbag2_node.cpp
@@ -79,6 +79,12 @@ class RosBag2NodeFixture : public Test
     return memory_management_.serialize_message(string_message);
   }
 
+  void sleep_to_allow_topics_discovery()
+  {
+    // This is a short sleep to allow the node some time to discover the topic
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+
   MemoryManagement memory_management_;
   std::shared_ptr<rosbag2_transport::Rosbag2Node> node_;
   rclcpp::Node::SharedPtr publisher_node_;
@@ -113,6 +119,7 @@ TEST_F(RosBag2NodeFixture, publisher_and_subscriber_work)
 TEST_F(RosBag2NodeFixture, get_topics_with_types_returns_empty_if_topic_does_not_exist) {
   create_publisher("string_topic");
 
+  sleep_to_allow_topics_discovery();
   auto topics_and_types = node_->get_topics_with_types({"/wrong_topic"});
 
   ASSERT_THAT(topics_and_types, IsEmpty());
@@ -123,6 +130,7 @@ TEST_F(RosBag2NodeFixture,
 {
   create_publisher("string_topic");
 
+  sleep_to_allow_topics_discovery();
   auto topics_and_types = node_->get_topics_with_types({"string_topic"});
 
   ASSERT_THAT(topics_and_types, SizeIs(1));
@@ -134,6 +142,7 @@ TEST_F(RosBag2NodeFixture,
 {
   create_publisher("string_topic");
 
+  sleep_to_allow_topics_discovery();
   auto topics_and_types = node_->get_topics_with_types({"/string_topic"});
 
   ASSERT_THAT(topics_and_types, SizeIs(1));
@@ -149,6 +158,7 @@ TEST_F(RosBag2NodeFixture, get_topics_with_types_returns_only_specified_topics)
   create_publisher(second_topic);
   create_publisher(third_topic);
 
+  sleep_to_allow_topics_discovery();
   auto topics_and_types = node_->get_topics_with_types({first_topic, second_topic});
 
   ASSERT_THAT(topics_and_types, SizeIs(2));
@@ -166,6 +176,7 @@ TEST_F(RosBag2NodeFixture, get_all_topics_with_types_returns_all_topics)
   create_publisher(second_topic);
   create_publisher(third_topic);
 
+  sleep_to_allow_topics_discovery();
   auto topics_and_types = node_->get_all_topics_with_types();
 
   ASSERT_THAT(topics_and_types, SizeIs(Ge(3u)));

From 71b40d298b68d2b60ee30ff5522b669e0981d891 Mon Sep 17 00:00:00 2001
From: Martin Idel <external.Martin.Idel@bosch-si.com>
Date: Mon, 26 Nov 2018 11:43:30 +0100
Subject: [PATCH 02/12] GH-27 Provide polling frequency as option

- make option available in RecordOptions
- set to 100ms for now
---
 .../include/rosbag2_transport/record_options.hpp       |  2 ++
 rosbag2_transport/src/rosbag2_transport/recorder.cpp   | 10 ++++++----
 rosbag2_transport/src/rosbag2_transport/recorder.hpp   |  3 ++-
 .../src/rosbag2_transport/rosbag2_transport_python.cpp |  2 ++
 .../test/rosbag2_transport/test_record.cpp             |  2 +-
 .../test/rosbag2_transport/test_record_all.cpp         |  2 +-
 6 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index ebb4154bf..9d4a3d742 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -15,6 +15,7 @@
 #ifndef ROSBAG2_TRANSPORT__RECORD_OPTIONS_HPP_
 #define ROSBAG2_TRANSPORT__RECORD_OPTIONS_HPP_
 
+#include <chrono>
 #include <string>
 #include <vector>
 
@@ -26,6 +27,7 @@ struct RecordOptions
   bool all;
   std::vector<std::string> topics;
   std::string rmw_serialization_format;
+  std::chrono::milliseconds topic_polling_frequency;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 4107503f2..c9928d11e 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -34,7 +34,8 @@ Recorder::Recorder(std::shared_ptr<rosbag2::Writer> writer, std::shared_ptr<Rosb
 void Recorder::record(const RecordOptions & record_options)
 {
   ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
-  auto discovery_future = launch_topics_discovery(record_options.topics);
+  auto discovery_future = launch_topics_discovery(
+    record_options.topic_polling_frequency, record_options.topics);
   rclcpp::spin(node_);
   discovery_future.wait();
   subscriptions_.clear();
@@ -64,9 +65,10 @@ Recorder::create_subscription(
   return subscription;
 }
 
-std::future<void> Recorder::launch_topics_discovery(std::vector<std::string> topics)
+std::future<void> Recorder::launch_topics_discovery(
+  std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics)
 {
-  auto subscribe_to_topics = [this, topics] {
+  auto subscribe_to_topics = [this, topics, topic_polling_frequency] {
       while (rclcpp::ok()) {
         auto all_topics_and_types = topics.empty() ?
           node_->get_all_topics_with_types() :
@@ -91,7 +93,7 @@ std::future<void> Recorder::launch_topics_discovery(std::vector<std::string> top
             }
           }
         }
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        std::this_thread::sleep_for(topic_polling_frequency);
       }
     };
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 3cfb8fe5d..5c0a1ab3b 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -43,7 +43,8 @@ class Recorder
 private:
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
-  std::future<void> launch_topics_discovery(std::vector<std::string> topics = {});
+  std::future<void> launch_topics_discovery(
+    std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics = {});
 
   std::shared_ptr<rosbag2::Writer> writer_;
   std::shared_ptr<Rosbag2Node> node_;
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
index 05c6b1ab2..661113ad4 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <Python.h>
+#include <chrono>
 #include <string>
 #include <vector>
 
@@ -48,6 +49,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
   record_options.all = all;
+  record_options.topic_polling_frequency = std::chrono::milliseconds(100);
 
   if (topics) {
     PyObject * topic_iterator = PyObject_GetIter(topics);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 515753399..cad03c8f3 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -37,7 +37,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   string_message->string_value = "Hello World";
   std::string string_topic = "/string_topic";
 
-  start_recording({false, {string_topic, array_topic}});
+  start_recording({false, {string_topic, array_topic}, 100ms});
 
   pub_man_.add_publisher<test_msgs::msg::Primitives>(
     string_topic, string_message, 2);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
index 743d4ef35..b9aaf7fa8 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
@@ -40,7 +40,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   pub_man_.add_publisher<test_msgs::msg::Primitives>(string_topic, string_message, 2);
   pub_man_.add_publisher<test_msgs::msg::StaticArrayPrimitives>(array_topic, array_message, 2);
 
-  start_recording({true, {}, ""});
+  start_recording({true, {}, "", 100ms});
   run_publishers();
   stop_recording();
 

From 05e02eaf7b9da0a878825f5c7d36ec430c13f419 Mon Sep 17 00:00:00 2001
From: Martin Idel <external.Martin.Idel@bosch-si.com>
Date: Mon, 26 Nov 2018 11:44:06 +0100
Subject: [PATCH 03/12] GH-27 Stop topic polling if subscription setup is
 complete

---
 rosbag2_transport/src/rosbag2_transport/recorder.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index c9928d11e..b3231d7bd 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -74,6 +74,10 @@ std::future<void> Recorder::launch_topics_discovery(
           node_->get_all_topics_with_types() :
           node_->get_topics_with_types(topics);
 
+        if (!topics.empty() && subscriptions_.size() == topics.size()) {
+          return;
+        }
+
         for (const auto & topic_with_type : all_topics_and_types) {
           std::string topic_name = topic_with_type.first;
           bool already_subscribed = std::find(

From 4b9ef84cdec1eae9427a7f4fbcea71e63ef28120 Mon Sep 17 00:00:00 2001
From: Martin Idel <external.Martin.Idel@bosch-si.com>
Date: Mon, 26 Nov 2018 13:31:42 +0100
Subject: [PATCH 04/12] GH-27 Minor refactoring for readability

---
 .../rosbag2_transport/record_options.hpp      |  2 +-
 .../src/rosbag2_transport/recorder.cpp        | 77 ++++++++++++-------
 .../src/rosbag2_transport/recorder.hpp        | 12 ++-
 .../rosbag2_transport_python.cpp              |  2 +-
 4 files changed, 63 insertions(+), 30 deletions(-)

diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index 9d4a3d742..aaaad6ce9 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -27,7 +27,7 @@ struct RecordOptions
   bool all;
   std::vector<std::string> topics;
   std::string rmw_serialization_format;
-  std::chrono::milliseconds topic_polling_frequency;
+  std::chrono::milliseconds topic_polling_interval;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index b3231d7bd..f8791f893 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -16,6 +16,7 @@
 
 #include <algorithm>
 #include <future>
+#include <map>
 #include <memory>
 #include <string>
 #include <utility>
@@ -35,8 +36,10 @@ void Recorder::record(const RecordOptions & record_options)
 {
   ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
   auto discovery_future = launch_topics_discovery(
-    record_options.topic_polling_frequency, record_options.topics);
-  rclcpp::spin(node_);
+    record_options.topic_polling_interval, record_options.topics);
+
+  record_messages();
+
   discovery_future.wait();
   subscriptions_.clear();
 }
@@ -66,42 +69,62 @@ Recorder::create_subscription(
 }
 
 std::future<void> Recorder::launch_topics_discovery(
-  std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics)
+  std::chrono::milliseconds topic_polling_interval,
+  const std::vector<std::string> & topics_to_record)
 {
-  auto subscribe_to_topics = [this, topics, topic_polling_frequency] {
+  auto subscribe_to_topics = [this, topics_to_record, topic_polling_interval] {
       while (rclcpp::ok()) {
-        auto all_topics_and_types = topics.empty() ?
+        auto all_topics_and_types_to_subscribe = topics_to_record.empty() ?
           node_->get_all_topics_with_types() :
-          node_->get_topics_with_types(topics);
+          node_->get_topics_with_types(topics_to_record);
 
-        if (!topics.empty() && subscriptions_.size() == topics.size()) {
+        if (is_every_topic_subscribed(topics_to_record)) {
           return;
         }
 
-        for (const auto & topic_with_type : all_topics_and_types) {
-          std::string topic_name = topic_with_type.first;
-          bool already_subscribed = std::find(
-            subscribed_topics_.begin(),
-            subscribed_topics_.end(),
-            topic_with_type.first) != subscribed_topics_.end();
-
-          if (!already_subscribed) {
-            std::string topic_type = topic_with_type.second;
-            auto subscription = create_subscription(topic_name, topic_type);
-            if (subscription) {
-              subscribed_topics_.push_back(topic_name);
-              subscriptions_.push_back(subscription);
-              writer_->create_topic({topic_name, topic_type});
-              ROSBAG2_TRANSPORT_LOG_INFO_STREAM(
-                "Subscribed to topic '" << topic_name << "'");
-            }
-          }
-        }
-        std::this_thread::sleep_for(topic_polling_frequency);
+        subscribe_all_missing_topics(all_topics_and_types_to_subscribe);
+        std::this_thread::sleep_for(topic_polling_interval);
       }
     };
 
   return std::async(std::launch::async, subscribe_to_topics);
 }
 
+bool Recorder::is_every_topic_subscribed(
+  const std::vector<std::string> & topics_to_record) const
+{
+  return !topics_to_record.empty() && subscriptions_.size() == topics_to_record.size();
+}
+
+void Recorder::subscribe_all_missing_topics(
+  const std::map<std::string, std::string> & all_topics_and_types)
+{
+  for (const auto & topic_with_type : all_topics_and_types) {
+    bool already_subscribed = find(
+      subscribed_topics_.begin(),
+      subscribed_topics_.end(),
+      topic_with_type.first) != subscribed_topics_.end();
+
+    if (!already_subscribed) {
+      subscribe_topic({topic_with_type.first, topic_with_type.second});
+    }
+  }
+}
+
+void Recorder::subscribe_topic(const rosbag2::TopicWithType & topic)
+{
+  auto subscription = create_subscription(topic.name, topic.type);
+  if (subscription) {
+    subscribed_topics_.push_back(topic.name);
+    subscriptions_.push_back(subscription);
+    writer_->create_topic(topic);
+    ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Subscribed to topic '" << topic.name << "'");
+  }
+}
+
+void Recorder::record_messages() const
+{
+  spin(node_);
+}
+
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 5c0a1ab3b..d290dffd9 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -16,10 +16,14 @@
 #define ROSBAG2_TRANSPORT__RECORDER_HPP_
 
 #include <future>
+#include <map>
 #include <memory>
 #include <string>
 #include <vector>
+#include <utility>
 
+#include "rosbag2/types.hpp"
+#include "rosbag2/writer.hpp"
 #include "rosbag2_transport/record_options.hpp"
 
 namespace rosbag2
@@ -44,7 +48,13 @@ class Recorder
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
   std::future<void> launch_topics_discovery(
-    std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics = {});
+    std::chrono::milliseconds topic_polling_interval,
+    const std::vector<std::string> & topics_to_record = {});
+  void subscribe_all_missing_topics(
+    const std::map<std::string, std::string> & all_topics_and_types);
+  void subscribe_topic(const rosbag2::TopicWithType & topic_with_type);
+  bool is_every_topic_subscribed(const std::vector<std::string> & topics_to_record) const;
+  void record_messages() const;
 
   std::shared_ptr<rosbag2::Writer> writer_;
   std::shared_ptr<Rosbag2Node> node_;
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
index 661113ad4..577e4e6d1 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
@@ -49,7 +49,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
   record_options.all = all;
-  record_options.topic_polling_frequency = std::chrono::milliseconds(100);
+  record_options.topic_polling_interval = std::chrono::milliseconds(100);
 
   if (topics) {
     PyObject * topic_iterator = PyObject_GetIter(topics);

From 99121ee3fc3db4994ddeb714b855041d6a843f14 Mon Sep 17 00:00:00 2001
From: Andreas Holzner <external.Andreas.Holzner@bosch-si.com>
Date: Thu, 29 Nov 2018 18:02:43 +0100
Subject: [PATCH 05/12] GH-27 Fix build after rebase

---
 .../src/rosbag2_transport/recorder.cpp              | 13 +++++++++----
 .../src/rosbag2_transport/recorder.hpp              |  9 +++++----
 .../test/rosbag2_transport/test_record.cpp          |  2 +-
 .../test/rosbag2_transport/test_record_all.cpp      |  2 +-
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index f8791f893..0c518bc1b 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -16,9 +16,10 @@
 
 #include <algorithm>
 #include <future>
-#include <map>
 #include <memory>
+#include <stdexcept>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -34,7 +35,11 @@ Recorder::Recorder(std::shared_ptr<rosbag2::Writer> writer, std::shared_ptr<Rosb
 
 void Recorder::record(const RecordOptions & record_options)
 {
+  if (record_options.rmw_serialization_format.empty()) {
+    throw std::runtime_error("No serialization format specified!");
+  }
   ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
+  serialization_format_ = record_options.rmw_serialization_format;
   auto discovery_future = launch_topics_discovery(
     record_options.topic_polling_interval, record_options.topics);
 
@@ -97,7 +102,7 @@ bool Recorder::is_every_topic_subscribed(
 }
 
 void Recorder::subscribe_all_missing_topics(
-  const std::map<std::string, std::string> & all_topics_and_types)
+  const std::unordered_map<std::string, std::string> & all_topics_and_types)
 {
   for (const auto & topic_with_type : all_topics_and_types) {
     bool already_subscribed = find(
@@ -106,12 +111,12 @@ void Recorder::subscribe_all_missing_topics(
       topic_with_type.first) != subscribed_topics_.end();
 
     if (!already_subscribed) {
-      subscribe_topic({topic_with_type.first, topic_with_type.second});
+      subscribe_topic({topic_with_type.first, topic_with_type.second, serialization_format_});
     }
   }
 }
 
-void Recorder::subscribe_topic(const rosbag2::TopicWithType & topic)
+void Recorder::subscribe_topic(const rosbag2::TopicMetadata & topic)
 {
   auto subscription = create_subscription(topic.name, topic.type);
   if (subscription) {
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index d290dffd9..a34c390b9 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -16,11 +16,11 @@
 #define ROSBAG2_TRANSPORT__RECORDER_HPP_
 
 #include <future>
-#include <map>
 #include <memory>
 #include <string>
-#include <vector>
+#include <unordered_map>
 #include <utility>
+#include <vector>
 
 #include "rosbag2/types.hpp"
 #include "rosbag2/writer.hpp"
@@ -51,8 +51,8 @@ class Recorder
     std::chrono::milliseconds topic_polling_interval,
     const std::vector<std::string> & topics_to_record = {});
   void subscribe_all_missing_topics(
-    const std::map<std::string, std::string> & all_topics_and_types);
-  void subscribe_topic(const rosbag2::TopicWithType & topic_with_type);
+    const std::unordered_map<std::string, std::string> & all_topics_and_types);
+  void subscribe_topic(const rosbag2::TopicMetadata & topic);
   bool is_every_topic_subscribed(const std::vector<std::string> & topics_to_record) const;
   void record_messages() const;
 
@@ -60,6 +60,7 @@ class Recorder
   std::shared_ptr<Rosbag2Node> node_;
   std::vector<std::shared_ptr<GenericSubscription>> subscriptions_;
   std::vector<std::string> subscribed_topics_;
+  std::string serialization_format_;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index cad03c8f3..4cc728beb 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -37,7 +37,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   string_message->string_value = "Hello World";
   std::string string_topic = "/string_topic";
 
-  start_recording({false, {string_topic, array_topic}, 100ms});
+  start_recording({false, {string_topic, array_topic}, "rmw_format", 100ms});
 
   pub_man_.add_publisher<test_msgs::msg::Primitives>(
     string_topic, string_message, 2);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
index b9aaf7fa8..6df2eade5 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
@@ -40,7 +40,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   pub_man_.add_publisher<test_msgs::msg::Primitives>(string_topic, string_message, 2);
   pub_man_.add_publisher<test_msgs::msg::StaticArrayPrimitives>(array_topic, array_message, 2);
 
-  start_recording({true, {}, "", 100ms});
+  start_recording({true, {}, "rmw_format", 100ms});
   run_publishers();
   stop_recording();
 

From 9b2d103ea3fc7646bc7762f088059007bec8d12b Mon Sep 17 00:00:00 2001
From: Andreas Holzner <external.Andreas.Holzner@bosch-si.com>
Date: Tue, 4 Dec 2018 13:53:29 +0100
Subject: [PATCH 06/12] GH-145 add no-discovery option to ros2 bag record

---
 ros2bag/ros2bag/verb/record.py                |  7 +++-
 rosbag2_transport/CMakeLists.txt              |  8 ++++
 .../rosbag2_transport/record_options.hpp      |  1 +
 .../src/rosbag2_transport/recorder.cpp        | 12 ++++--
 .../src/rosbag2_transport/recorder.hpp        |  1 +
 .../rosbag2_transport_python.cpp              |  7 +++-
 .../test/rosbag2_transport/test_record.cpp    |  2 +-
 .../rosbag2_transport/test_record_all.cpp     |  7 +---
 .../test_record_all_no_discovery.cpp          | 42 +++++++++++++++++++
 9 files changed, 73 insertions(+), 14 deletions(-)
 create mode 100644 rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp

diff --git a/ros2bag/ros2bag/verb/record.py b/ros2bag/ros2bag/verb/record.py
index f83ace48d..290a41e1e 100644
--- a/ros2bag/ros2bag/verb/record.py
+++ b/ros2bag/ros2bag/verb/record.py
@@ -46,6 +46,9 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '-f', '--serialization-format', default='',
             help='rmw serialization format in which the messages are saved, defaults to the'
              ' rmw currently in use')
+        parser.add_argument(
+            '--no-discovery', action='store_true',
+            help='disables topic auto discovery during recording')
 
     def create_bag_directory(self, uri):
         try:
@@ -69,12 +72,14 @@ def main(self, *, args):  # noqa: D102
                 uri=uri,
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
-                all=True)
+                all=True,
+                no_discovery=args.no_discovery)
         elif args.topics and len(args.topics) > 0:
             rosbag2_transport_py.record(
                 uri=uri,
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
+                no_discovery=args.no_discovery,
                 topics=args.topics)
         else:
             self._subparser.print_help()
diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index e49c0da20..4c4953940 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -106,6 +106,14 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_record_all test_msgs rosbag2_test_common)
   endif()
 
+  ament_add_gmock(test_record_all_no_discovery
+    test/rosbag2_transport/test_record_all_no_discovery.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_record_all_no_discovery)
+    target_link_libraries(test_record_all_no_discovery rosbag2_transport)
+    ament_target_dependencies(test_record_all_no_discovery test_msgs rosbag2_test_common)
+  endif()
+
   ament_add_gmock(test_play
     test/rosbag2_transport/test_play.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index aaaad6ce9..e2cc6b808 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -25,6 +25,7 @@ struct RecordOptions
 {
 public:
   bool all;
+  bool is_discovery_disabled;
   std::vector<std::string> topics;
   std::string rmw_serialization_format;
   std::chrono::milliseconds topic_polling_interval;
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 0c518bc1b..1983ce056 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -41,7 +41,9 @@ void Recorder::record(const RecordOptions & record_options)
   ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
   serialization_format_ = record_options.rmw_serialization_format;
   auto discovery_future = launch_topics_discovery(
-    record_options.topic_polling_interval, record_options.topics);
+    record_options.topic_polling_interval,
+    record_options.is_discovery_disabled,
+    record_options.topics);
 
   record_messages();
 
@@ -75,10 +77,12 @@ Recorder::create_subscription(
 
 std::future<void> Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
+  bool is_discovery_disabled,
   const std::vector<std::string> & topics_to_record)
 {
-  auto subscribe_to_topics = [this, topics_to_record, topic_polling_interval] {
-      while (rclcpp::ok()) {
+  auto subscribe_to_topics =
+    [this, topics_to_record, topic_polling_interval, is_discovery_disabled] {
+      do {
         auto all_topics_and_types_to_subscribe = topics_to_record.empty() ?
           node_->get_all_topics_with_types() :
           node_->get_topics_with_types(topics_to_record);
@@ -89,7 +93,7 @@ std::future<void> Recorder::launch_topics_discovery(
 
         subscribe_all_missing_topics(all_topics_and_types_to_subscribe);
         std::this_thread::sleep_for(topic_polling_interval);
-      }
+      } while (rclcpp::ok() && !is_discovery_disabled);
     };
 
   return std::async(std::launch::async, subscribe_to_topics);
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index a34c390b9..f5c572445 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -49,6 +49,7 @@ class Recorder
     const std::string & topic_name, const std::string & topic_type);
   std::future<void> launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
+    bool is_discovery_disabled,
     const std::vector<std::string> & topics_to_record = {});
   void subscribe_all_missing_topics(
     const std::unordered_map<std::string, std::string> & all_topics_and_types);
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
index 577e4e6d1..d8976054c 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
@@ -29,18 +29,20 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   rosbag2_transport::RecordOptions record_options{};
 
   static const char * kwlist[] = {
-    "uri", "storage_id", "serialization_format", "all", "topics", nullptr};
+    "uri", "storage_id", "serialization_format", "all", "no_discovery", "topics", nullptr};
 
   char * uri = nullptr;
   char * storage_id = nullptr;
   char * serilization_format = nullptr;
   bool all = false;
+  bool no_discovery = false;
   PyObject * topics = nullptr;
-  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|bO", const_cast<char **>(kwlist),
+  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|bbO", const_cast<char **>(kwlist),
     &uri,
     &storage_id,
     &serilization_format,
     &all,
+    &no_discovery,
     &topics))
   {
     return nullptr;
@@ -49,6 +51,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
   record_options.all = all;
+  record_options.is_discovery_disabled = no_discovery;
   record_options.topic_polling_interval = std::chrono::milliseconds(100);
 
   if (topics) {
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 4cc728beb..2bd311f43 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -37,7 +37,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   string_message->string_value = "Hello World";
   std::string string_topic = "/string_topic";
 
-  start_recording({false, {string_topic, array_topic}, "rmw_format", 100ms});
+  start_recording({false, false, {string_topic, array_topic}, "rmw_format", 100ms});
 
   pub_man_.add_publisher<test_msgs::msg::Primitives>(
     string_topic, string_message, 2);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
index 6df2eade5..f98527423 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
@@ -14,14 +14,9 @@
 
 #include <gmock/gmock.h>
 
-#include <memory>
 #include <string>
-#include <vector>
 
-#include "rclcpp/rclcpp.hpp"
 #include "record_integration_fixture.hpp"
-#include "rosbag2_transport/rosbag2_transport.hpp"
-#include "rosbag2/types.hpp"
 #include "test_msgs/msg/primitives.hpp"
 #include "test_msgs/msg/static_array_primitives.hpp"
 #include "test_msgs/message_fixtures.hpp"
@@ -40,7 +35,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   pub_man_.add_publisher<test_msgs::msg::Primitives>(string_topic, string_message, 2);
   pub_man_.add_publisher<test_msgs::msg::StaticArrayPrimitives>(array_topic, array_message, 2);
 
-  start_recording({true, {}, "rmw_format", 100ms});
+  start_recording({true, false, {}, "rmw_format", 100ms});
   run_publishers();
   stop_recording();
 
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
new file mode 100644
index 000000000..89fa478a5
--- /dev/null
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all_no_discovery.cpp
@@ -0,0 +1,42 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "record_integration_fixture.hpp"
+#include "test_msgs/msg/primitives.hpp"
+#include "test_msgs/message_fixtures.hpp"
+
+TEST_F(RecordIntegrationTestFixture, record_all_without_discovery_ignores_later_announced_topics)
+{
+  auto string_message = get_messages_primitives()[0];
+  string_message->string_value = "Hello World";
+
+  start_recording({true, true, {}, "rmw_format", 1ms});
+
+  std::this_thread::sleep_for(100ms);
+  auto publisher_node = std::make_shared<rclcpp::Node>("publisher_for_test");
+  auto publisher = publisher_node->create_publisher<test_msgs::msg::Primitives>("/string_topic");
+  for (int i = 0; i < 5; ++i) {
+    std::this_thread::sleep_for(20ms);
+    publisher->publish(string_message);
+  }
+  stop_recording();
+
+  ASSERT_THAT(writer_->get_messages(), SizeIs(0));
+}

From 235604da75c63d395391c8991f56c29ea5a7537a Mon Sep 17 00:00:00 2001
From: Andreas Holzner <external.Andreas.Holzner@bosch-si.com>
Date: Thu, 6 Dec 2018 14:40:18 +0100
Subject: [PATCH 07/12] GH-27 Refactor subscribing mechanism

- use set for subscribed topics instead of vector
- perform the asynchronous call only when discovery is needed
---
 .../src/rosbag2_transport/recorder.cpp        | 53 +++++++++++--------
 .../src/rosbag2_transport/recorder.hpp        |  5 +-
 2 files changed, 34 insertions(+), 24 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 1983ce056..c9653050f 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -38,16 +38,20 @@ void Recorder::record(const RecordOptions & record_options)
   if (record_options.rmw_serialization_format.empty()) {
     throw std::runtime_error("No serialization format specified!");
   }
-  ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
   serialization_format_ = record_options.rmw_serialization_format;
-  auto discovery_future = launch_topics_discovery(
-    record_options.topic_polling_interval,
-    record_options.is_discovery_disabled,
-    record_options.topics);
+  ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
+  subscribe_topics(record_options.topics);
+  std::future<void> discovery_future;
+  if (!record_options.is_discovery_disabled) {
+    discovery_future = launch_topics_discovery(
+      record_options.topic_polling_interval, record_options.topics);
+  }
 
   record_messages();
 
-  discovery_future.wait();
+  if (!record_options.is_discovery_disabled) {
+    discovery_future.wait();
+  }
   subscriptions_.clear();
 }
 
@@ -77,28 +81,35 @@ Recorder::create_subscription(
 
 std::future<void> Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
-  bool is_discovery_disabled,
   const std::vector<std::string> & topics_to_record)
 {
   auto subscribe_to_topics =
-    [this, topics_to_record, topic_polling_interval, is_discovery_disabled] {
-      do {
-        auto all_topics_and_types_to_subscribe = topics_to_record.empty() ?
-          node_->get_all_topics_with_types() :
-          node_->get_topics_with_types(topics_to_record);
-
-        if (is_every_topic_subscribed(topics_to_record)) {
+    [this, topics_to_record, topic_polling_interval] {
+      while (rclcpp::ok()) {
+        if (subscribe_topics(topics_to_record)) {
           return;
         }
-
-        subscribe_all_missing_topics(all_topics_and_types_to_subscribe);
         std::this_thread::sleep_for(topic_polling_interval);
-      } while (rclcpp::ok() && !is_discovery_disabled);
+      }
     };
 
   return std::async(std::launch::async, subscribe_to_topics);
 }
 
+bool Recorder::subscribe_topics(const std::vector<std::string> & topics_to_record)
+{
+  auto all_topics_and_types_to_subscribe = topics_to_record.empty() ?
+    node_->get_all_topics_with_types() :
+    node_->get_topics_with_types(topics_to_record);
+
+  if (is_every_topic_subscribed(topics_to_record)) {
+    return true;
+  }
+
+  subscribe_all_missing_topics(all_topics_and_types_to_subscribe);
+  return false;
+}
+
 bool Recorder::is_every_topic_subscribed(
   const std::vector<std::string> & topics_to_record) const
 {
@@ -109,10 +120,8 @@ void Recorder::subscribe_all_missing_topics(
   const std::unordered_map<std::string, std::string> & all_topics_and_types)
 {
   for (const auto & topic_with_type : all_topics_and_types) {
-    bool already_subscribed = find(
-      subscribed_topics_.begin(),
-      subscribed_topics_.end(),
-      topic_with_type.first) != subscribed_topics_.end();
+    bool already_subscribed =
+      subscribed_topics_.find(topic_with_type.first) != subscribed_topics_.end();
 
     if (!already_subscribed) {
       subscribe_topic({topic_with_type.first, topic_with_type.second, serialization_format_});
@@ -124,7 +133,7 @@ void Recorder::subscribe_topic(const rosbag2::TopicMetadata & topic)
 {
   auto subscription = create_subscription(topic.name, topic.type);
   if (subscription) {
-    subscribed_topics_.push_back(topic.name);
+    subscribed_topics_.insert(topic.name);
     subscriptions_.push_back(subscription);
     writer_->create_topic(topic);
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Subscribed to topic '" << topic.name << "'");
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index f5c572445..9fd737097 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -19,6 +19,7 @@
 #include <memory>
 #include <string>
 #include <unordered_map>
+#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -49,8 +50,8 @@ class Recorder
     const std::string & topic_name, const std::string & topic_type);
   std::future<void> launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
-    bool is_discovery_disabled,
     const std::vector<std::string> & topics_to_record = {});
+  bool subscribe_topics(const std::vector<std::string> & topics_to_record);
   void subscribe_all_missing_topics(
     const std::unordered_map<std::string, std::string> & all_topics_and_types);
   void subscribe_topic(const rosbag2::TopicMetadata & topic);
@@ -60,7 +61,7 @@ class Recorder
   std::shared_ptr<rosbag2::Writer> writer_;
   std::shared_ptr<Rosbag2Node> node_;
   std::vector<std::shared_ptr<GenericSubscription>> subscriptions_;
-  std::vector<std::string> subscribed_topics_;
+  std::unordered_set<std::string> subscribed_topics_;
   std::string serialization_format_;
 };
 

From 6cc6171c3c38369cd3135bdb8e04059cb574a662 Mon Sep 17 00:00:00 2001
From: Andreas Holzner <external.Andreas.Holzner@bosch-si.com>
Date: Thu, 6 Dec 2018 15:06:31 +0100
Subject: [PATCH 08/12] GH-27 Expose polling-interval as cli option

---
 ros2bag/ros2bag/verb/record.py                    |  8 +++++++-
 .../rosbag2_transport_python.cpp                  | 15 ++++++++++++---
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/ros2bag/ros2bag/verb/record.py b/ros2bag/ros2bag/verb/record.py
index 290a41e1e..0b5cf7e12 100644
--- a/ros2bag/ros2bag/verb/record.py
+++ b/ros2bag/ros2bag/verb/record.py
@@ -49,6 +49,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '--no-discovery', action='store_true',
             help='disables topic auto discovery during recording')
+        parser.add_argument(
+            '-p', '--polling-interval', default=100,
+            help='time in ms to wait between querying available topics for recording'
+        )
 
     def create_bag_directory(self, uri):
         try:
@@ -73,13 +77,15 @@ def main(self, *, args):  # noqa: D102
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
                 all=True,
-                no_discovery=args.no_discovery)
+                no_discovery=args.no_discovery,
+                polling_interval=args.polling_interval)
         elif args.topics and len(args.topics) > 0:
             rosbag2_transport_py.record(
                 uri=uri,
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
                 no_discovery=args.no_discovery,
+                polling_interval=args.polling_interval,
                 topics=args.topics)
         else:
             self._subparser.print_help()
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
index d8976054c..b02f7f3a8 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
@@ -29,20 +29,29 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   rosbag2_transport::RecordOptions record_options{};
 
   static const char * kwlist[] = {
-    "uri", "storage_id", "serialization_format", "all", "no_discovery", "topics", nullptr};
+    "uri",
+    "storage_id",
+    "serialization_format",
+    "all",
+    "no_discovery",
+    "polling_interval",
+    "topics",
+    nullptr};
 
   char * uri = nullptr;
   char * storage_id = nullptr;
   char * serilization_format = nullptr;
   bool all = false;
   bool no_discovery = false;
+  uint64_t polling_interval_ms = 100;
   PyObject * topics = nullptr;
-  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|bbO", const_cast<char **>(kwlist),
+  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|bbKO", const_cast<char **>(kwlist),
     &uri,
     &storage_id,
     &serilization_format,
     &all,
     &no_discovery,
+    &polling_interval_ms,
     &topics))
   {
     return nullptr;
@@ -52,7 +61,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   storage_options.storage_id = std::string(storage_id);
   record_options.all = all;
   record_options.is_discovery_disabled = no_discovery;
-  record_options.topic_polling_interval = std::chrono::milliseconds(100);
+  record_options.topic_polling_interval = std::chrono::milliseconds(polling_interval_ms);
 
   if (topics) {
     PyObject * topic_iterator = PyObject_GetIter(topics);

From 4def41e95042439fba62a22afd69d3524eb9b98c Mon Sep 17 00:00:00 2001
From: Alessandro Bottero <external.Alessandro.Bottero@bosch-si.com>
Date: Thu, 6 Dec 2018 16:15:49 +0100
Subject: [PATCH 09/12] GH-27 Minor refactoring

---
 ros2bag/ros2bag/verb/record.py                |  6 ++-
 .../src/rosbag2_transport/recorder.cpp        | 49 ++++++++++---------
 .../src/rosbag2_transport/recorder.hpp        |  4 +-
 3 files changed, 31 insertions(+), 28 deletions(-)

diff --git a/ros2bag/ros2bag/verb/record.py b/ros2bag/ros2bag/verb/record.py
index 0b5cf7e12..f6a400206 100644
--- a/ros2bag/ros2bag/verb/record.py
+++ b/ros2bag/ros2bag/verb/record.py
@@ -48,10 +48,12 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
              ' rmw currently in use')
         parser.add_argument(
             '--no-discovery', action='store_true',
-            help='disables topic auto discovery during recording')
+            help='disables topic auto discovery during recording: only topics present at '
+             'startup will be recorded')
         parser.add_argument(
             '-p', '--polling-interval', default=100,
-            help='time in ms to wait between querying available topics for recording'
+            help='time in ms to wait between querying available topics for recording. It has no '
+             'effect if --no-discovery is enabled.'
         )
 
     def create_bag_directory(self, uri):
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index c9653050f..d58f9e2f9 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -39,7 +39,7 @@ void Recorder::record(const RecordOptions & record_options)
     throw std::runtime_error("No serialization format specified!");
   }
   serialization_format_ = record_options.rmw_serialization_format;
-  ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
+  ROSBAG2_TRANSPORT_LOG_INFO("Listening for topics...");
   subscribe_topics(record_options.topics);
   std::future<void> discovery_future;
   if (!record_options.is_discovery_disabled) {
@@ -55,29 +55,6 @@ void Recorder::record(const RecordOptions & record_options)
   subscriptions_.clear();
 }
 
-std::shared_ptr<GenericSubscription>
-Recorder::create_subscription(
-  const std::string & topic_name, const std::string & topic_type)
-{
-  auto subscription = node_->create_generic_subscription(
-    topic_name,
-    topic_type,
-    [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
-      auto bag_message = std::make_shared<rosbag2::SerializedBagMessage>();
-      bag_message->serialized_data = message;
-      bag_message->topic_name = topic_name;
-      rcutils_time_point_value_t time_stamp;
-      int error = rcutils_system_time_now(&time_stamp);
-      if (error != RCUTILS_RET_OK) {
-        ROSBAG2_TRANSPORT_LOG_ERROR_STREAM(
-          "Error getting current time. Error:" << rcutils_get_error_string().str);
-      }
-      bag_message->time_stamp = time_stamp;
-
-      writer_->write(bag_message);
-    });
-  return subscription;
-}
 
 std::future<void> Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
@@ -140,6 +117,30 @@ void Recorder::subscribe_topic(const rosbag2::TopicMetadata & topic)
   }
 }
 
+std::shared_ptr<GenericSubscription>
+Recorder::create_subscription(
+  const std::string & topic_name, const std::string & topic_type)
+{
+  auto subscription = node_->create_generic_subscription(
+    topic_name,
+    topic_type,
+    [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
+      auto bag_message = std::make_shared<rosbag2::SerializedBagMessage>();
+      bag_message->serialized_data = message;
+      bag_message->topic_name = topic_name;
+      rcutils_time_point_value_t time_stamp;
+      int error = rcutils_system_time_now(&time_stamp);
+      if (error != RCUTILS_RET_OK) {
+        ROSBAG2_TRANSPORT_LOG_ERROR_STREAM(
+          "Error getting current time. Error:" << rcutils_get_error_string().str);
+      }
+      bag_message->time_stamp = time_stamp;
+
+      writer_->write(bag_message);
+    });
+  return subscription;
+}
+
 void Recorder::record_messages() const
 {
   spin(node_);
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 9fd737097..938e858ab 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -46,12 +46,12 @@ class Recorder
   void record(const RecordOptions & record_options);
 
 private:
-  std::shared_ptr<GenericSubscription> create_subscription(
-    const std::string & topic_name, const std::string & topic_type);
   std::future<void> launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
     const std::vector<std::string> & topics_to_record = {});
   bool subscribe_topics(const std::vector<std::string> & topics_to_record);
+  std::shared_ptr<GenericSubscription> create_subscription(
+    const std::string & topic_name, const std::string & topic_type);
   void subscribe_all_missing_topics(
     const std::unordered_map<std::string, std::string> & all_topics_and_types);
   void subscribe_topic(const rosbag2::TopicMetadata & topic);

From ee1125708680fbe0be43efb82776c3029ccaab9d Mon Sep 17 00:00:00 2001
From: Andreas Holzner <external.Andreas.Holzner@bosch-si.com>
Date: Thu, 6 Dec 2018 19:26:07 +0100
Subject: [PATCH 10/12] GH-27 Refactor recorder

- naming of methods
- emphasize similarity between first subscription and discovery loop
---
 .../src/rosbag2_transport/recorder.cpp        | 60 +++++++++----------
 .../src/rosbag2_transport/recorder.hpp        | 14 +++--
 2 files changed, 38 insertions(+), 36 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index d58f9e2f9..3c8ecdf46 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -40,7 +40,8 @@ void Recorder::record(const RecordOptions & record_options)
   }
   serialization_format_ = record_options.rmw_serialization_format;
   ROSBAG2_TRANSPORT_LOG_INFO("Listening for topics...");
-  subscribe_topics(record_options.topics);
+  subscribe_topics(get_requested_or_available_topics(record_options.topics));
+
   std::future<void> discovery_future;
   if (!record_options.is_discovery_disabled) {
     discovery_future = launch_topics_discovery(
@@ -55,54 +56,53 @@ void Recorder::record(const RecordOptions & record_options)
   subscriptions_.clear();
 }
 
-
 std::future<void> Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
-  const std::vector<std::string> & topics_to_record)
+  const std::vector<std::string> & requested_topics)
 {
-  auto subscribe_to_topics =
-    [this, topics_to_record, topic_polling_interval] {
+  auto discover_and_subscribe_topics =
+    [this, requested_topics, topic_polling_interval] {
       while (rclcpp::ok()) {
-        if (subscribe_topics(topics_to_record)) {
+        auto topics_to_subscribe = get_requested_or_available_topics(requested_topics);
+        auto missing_topics = get_missing_topics(topics_to_subscribe);
+        subscribe_topics(missing_topics);
+
+        if (!requested_topics.empty() && subscribed_topics_.size() == requested_topics.size()) {
+          ROSBAG2_TRANSPORT_LOG_INFO("All requested topics are subscribed. Stopping discovery...");
           return;
         }
         std::this_thread::sleep_for(topic_polling_interval);
       }
     };
 
-  return std::async(std::launch::async, subscribe_to_topics);
+  return std::async(std::launch::async, discover_and_subscribe_topics);
 }
 
-bool Recorder::subscribe_topics(const std::vector<std::string> & topics_to_record)
+std::unordered_map<std::string, std::string>
+Recorder::get_requested_or_available_topics(const std::vector<std::string> & requested_topics)
 {
-  auto all_topics_and_types_to_subscribe = topics_to_record.empty() ?
-    node_->get_all_topics_with_types() :
-    node_->get_topics_with_types(topics_to_record);
-
-  if (is_every_topic_subscribed(topics_to_record)) {
-    return true;
-  }
-
-  subscribe_all_missing_topics(all_topics_and_types_to_subscribe);
-  return false;
+  return requested_topics.empty() ?
+         node_->get_all_topics_with_types() :
+         node_->get_topics_with_types(requested_topics);
 }
 
-bool Recorder::is_every_topic_subscribed(
-  const std::vector<std::string> & topics_to_record) const
+std::unordered_map<std::string, std::string>
+Recorder::get_missing_topics(const std::unordered_map<std::string, std::string> & topics)
 {
-  return !topics_to_record.empty() && subscriptions_.size() == topics_to_record.size();
+  std::unordered_map<std::string, std::string> missing_topics;
+  for (const auto & i : topics) {
+    if (subscribed_topics_.find(i.first) == subscribed_topics_.end()) {
+      missing_topics.emplace(i.first, i.second);
+    }
+  }
+  return missing_topics;
 }
 
-void Recorder::subscribe_all_missing_topics(
-  const std::unordered_map<std::string, std::string> & all_topics_and_types)
+void Recorder::subscribe_topics(
+  const std::unordered_map<std::string, std::string> & topics_and_types)
 {
-  for (const auto & topic_with_type : all_topics_and_types) {
-    bool already_subscribed =
-      subscribed_topics_.find(topic_with_type.first) != subscribed_topics_.end();
-
-    if (!already_subscribed) {
-      subscribe_topic({topic_with_type.first, topic_with_type.second, serialization_format_});
-    }
+  for (const auto & topic_with_type : topics_and_types) {
+    subscribe_topic({topic_with_type.first, topic_with_type.second, serialization_format_});
   }
 }
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 938e858ab..3455eb9b5 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -48,14 +48,16 @@ class Recorder
 private:
   std::future<void> launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
-    const std::vector<std::string> & topics_to_record = {});
-  bool subscribe_topics(const std::vector<std::string> & topics_to_record);
+    const std::vector<std::string> & requested_topics = {});
+  std::unordered_map<std::string, std::string>
+  get_requested_or_available_topics(const std::vector<std::string> & requested_topics);
+  std::unordered_map<std::string, std::string>
+  get_missing_topics(const std::unordered_map<std::string, std::string> & topics);
+  void subscribe_topics(
+    const std::unordered_map<std::string, std::string> & topics_and_types);
+  void subscribe_topic(const rosbag2::TopicMetadata & topic);
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
-  void subscribe_all_missing_topics(
-    const std::unordered_map<std::string, std::string> & all_topics_and_types);
-  void subscribe_topic(const rosbag2::TopicMetadata & topic);
-  bool is_every_topic_subscribed(const std::vector<std::string> & topics_to_record) const;
   void record_messages() const;
 
   std::shared_ptr<rosbag2::Writer> writer_;

From aa3976dc6ef091884001093cae04c7e7445b5f56 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Thu, 6 Dec 2018 12:54:30 -0800
Subject: [PATCH 11/12] small touch ups

---
 .../src/rosbag2_transport/recorder.cpp        | 36 +++++++++----------
 .../src/rosbag2_transport/recorder.hpp        |  8 ++++-
 2 files changed, 24 insertions(+), 20 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 3c8ecdf46..ab07eacda 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -44,38 +44,36 @@ void Recorder::record(const RecordOptions & record_options)
 
   std::future<void> discovery_future;
   if (!record_options.is_discovery_disabled) {
-    discovery_future = launch_topics_discovery(
+    auto launch_discovery = std::bind(
+      &Recorder::launch_topics_discovery, this,
       record_options.topic_polling_interval, record_options.topics);
+    discovery_future = std::async(std::launch::async, launch_discovery);
   }
 
   record_messages();
 
-  if (!record_options.is_discovery_disabled) {
+  if (discovery_future.valid()) {
     discovery_future.wait();
   }
+
   subscriptions_.clear();
 }
 
-std::future<void> Recorder::launch_topics_discovery(
+void Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
   const std::vector<std::string> & requested_topics)
 {
-  auto discover_and_subscribe_topics =
-    [this, requested_topics, topic_polling_interval] {
-      while (rclcpp::ok()) {
-        auto topics_to_subscribe = get_requested_or_available_topics(requested_topics);
-        auto missing_topics = get_missing_topics(topics_to_subscribe);
-        subscribe_topics(missing_topics);
-
-        if (!requested_topics.empty() && subscribed_topics_.size() == requested_topics.size()) {
-          ROSBAG2_TRANSPORT_LOG_INFO("All requested topics are subscribed. Stopping discovery...");
-          return;
-        }
-        std::this_thread::sleep_for(topic_polling_interval);
-      }
-    };
-
-  return std::async(std::launch::async, discover_and_subscribe_topics);
+  while (rclcpp::ok()) {
+    auto topics_to_subscribe = get_requested_or_available_topics(requested_topics);
+    auto missing_topics = get_missing_topics(topics_to_subscribe);
+    subscribe_topics(missing_topics);
+
+    if (!requested_topics.empty() && subscribed_topics_.size() == requested_topics.size()) {
+      ROSBAG2_TRANSPORT_LOG_INFO("All requested topics are subscribed. Stopping discovery...");
+      return;
+    }
+    std::this_thread::sleep_for(topic_polling_interval);
+  }
 }
 
 std::unordered_map<std::string, std::string>
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 3455eb9b5..cb12a7596 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -46,18 +46,24 @@ class Recorder
   void record(const RecordOptions & record_options);
 
 private:
-  std::future<void> launch_topics_discovery(
+  void launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
     const std::vector<std::string> & requested_topics = {});
+
   std::unordered_map<std::string, std::string>
   get_requested_or_available_topics(const std::vector<std::string> & requested_topics);
+
   std::unordered_map<std::string, std::string>
   get_missing_topics(const std::unordered_map<std::string, std::string> & topics);
+
   void subscribe_topics(
     const std::unordered_map<std::string, std::string> & topics_and_types);
+
   void subscribe_topic(const rosbag2::TopicMetadata & topic);
+
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
+
   void record_messages() const;
 
   std::shared_ptr<rosbag2::Writer> writer_;

From 482ca0e5ad79be4e2aeb1b581fdfcaaccbb67da0 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Thu, 6 Dec 2018 13:36:05 -0800
Subject: [PATCH 12/12] remove launch from function name

---
 rosbag2_transport/src/rosbag2_transport/recorder.cpp | 8 ++++----
 rosbag2_transport/src/rosbag2_transport/recorder.hpp | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index ab07eacda..b4a012159 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -44,10 +44,10 @@ void Recorder::record(const RecordOptions & record_options)
 
   std::future<void> discovery_future;
   if (!record_options.is_discovery_disabled) {
-    auto launch_discovery = std::bind(
-      &Recorder::launch_topics_discovery, this,
+    auto discovery = std::bind(
+      &Recorder::topics_discovery, this,
       record_options.topic_polling_interval, record_options.topics);
-    discovery_future = std::async(std::launch::async, launch_discovery);
+    discovery_future = std::async(std::launch::async, discovery);
   }
 
   record_messages();
@@ -59,7 +59,7 @@ void Recorder::record(const RecordOptions & record_options)
   subscriptions_.clear();
 }
 
-void Recorder::launch_topics_discovery(
+void Recorder::topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
   const std::vector<std::string> & requested_topics)
 {
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index cb12a7596..d6419ed02 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -46,7 +46,7 @@ class Recorder
   void record(const RecordOptions & record_options);
 
 private:
-  void launch_topics_discovery(
+  void topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
     const std::vector<std::string> & requested_topics = {});