From a776e895e8f2e23d57c8e47a23e70733c5178e99 Mon Sep 17 00:00:00 2001
From: Irene Bandera <irenebandera@eprosima.com>
Date: Fri, 24 Nov 2023 11:07:27 +0100
Subject: [PATCH] Apply changes

Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
---
 ddsrecorder/src/cpp/tool/DdsRecorder.cpp       | 18 +++++++++---------
 ddsrecorder_participants/CMakeLists.txt        |  1 -
 .../src/cpp/recorder/mcap/McapHandler.cpp      |  4 +---
 .../src/cpp/replayer/McapReaderParticipant.cpp |  4 ++--
 ddsreplayer/src/cpp/tool/DdsReplayer.cpp       |  2 --
 docs/rst/notes/forthcoming_version.rst         |  4 ++--
 6 files changed, 14 insertions(+), 19 deletions(-)

diff --git a/ddsrecorder/src/cpp/tool/DdsRecorder.cpp b/ddsrecorder/src/cpp/tool/DdsRecorder.cpp
index d135a97c8..63ba0aa1e 100644
--- a/ddsrecorder/src/cpp/tool/DdsRecorder.cpp
+++ b/ddsrecorder/src/cpp/tool/DdsRecorder.cpp
@@ -65,15 +65,15 @@ DdsRecorder::DdsRecorder(
     // Create MCAP Handler configuration
     participants::McapHandlerConfiguration handler_config(
         mcap_output_settings,
-        configuration.max_pending_samples,
-        configuration.buffer_size,
-        configuration.event_window,
-        configuration.cleanup_period,
-        configuration.log_publish_time,
-        configuration.only_with_type,
-        configuration.mcap_writer_options,
-        configuration.record_types,
-        configuration.ros2_types);
+        configuration_.max_pending_samples,
+        configuration_.buffer_size,
+        configuration_.event_window,
+        configuration_.cleanup_period,
+        configuration_.log_publish_time,
+        configuration_.only_with_type,
+        configuration_.mcap_writer_options,
+        configuration_.record_types,
+        configuration_.ros2_types);
 
     // Create MCAP Handler
     mcap_handler_ = std::make_shared<participants::McapHandler>(
diff --git a/ddsrecorder_participants/CMakeLists.txt b/ddsrecorder_participants/CMakeLists.txt
index 59e7972e8..035b6ed38 100644
--- a/ddsrecorder_participants/CMakeLists.txt
+++ b/ddsrecorder_participants/CMakeLists.txt
@@ -25,7 +25,6 @@ enable_language(CXX)
 ###############################################################################
 # Package cmake_utils is required to get every cmake macro needed
 find_package(cmake_utils REQUIRED)
-find_package(cpp_utils REQUIRED)
 
 ###############################################################################
 # Project
diff --git a/ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp b/ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp
index 0d6b0bf3b..29337ea26 100644
--- a/ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp
+++ b/ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp
@@ -861,11 +861,9 @@ mcap::ChannelId McapHandler::create_channel_id_nts_(
     // Create new channel
     mcap::KeyValueMap metadata = {};
     metadata[QOS_SERIALIZATION_QOS] = serialize_qos_(topic.topic_qos);
-    metadata[ROS2_TYPES] =
-            configuration_.ros2_types ? topic.m_topic_name.rfind("rt/",
-                    0) == 0 ? "true" : "false" : "false";
     std::string topic_name =
             configuration_.ros2_types ? utils::demangle_if_ros_topic(topic.m_topic_name) : topic.m_topic_name;
+    metadata[ROS2_TYPES] = topic_name.compare(topic.m_topic_name) == 0 ? "true" : "false";
     mcap::Channel new_channel(topic_name, "cdr", schema_id, metadata);
     mcap_writer_.addChannel(new_channel);
     auto channel_id = new_channel.id;
diff --git a/ddsrecorder_participants/src/cpp/replayer/McapReaderParticipant.cpp b/ddsrecorder_participants/src/cpp/replayer/McapReaderParticipant.cpp
index 6704f2175..02643e03b 100644
--- a/ddsrecorder_participants/src/cpp/replayer/McapReaderParticipant.cpp
+++ b/ddsrecorder_participants/src/cpp/replayer/McapReaderParticipant.cpp
@@ -20,10 +20,10 @@
 
 #include <cpp_utils/exception/InconsistencyException.hpp>
 #include <cpp_utils/Log.hpp>
+#include <cpp_utils/ros2_mangling.hpp>
 #include <cpp_utils/time/time_utils.hpp>
 #include <cpp_utils/types/cast.hpp>
 #include <cpp_utils/utils.hpp>
-#include <cpp_utils/ros2_mangling.hpp>
 
 #include <ddspipe_core/types/data/RtpsPayloadData.hpp>
 #include <ddspipe_core/types/dds/Payload.hpp>
@@ -31,8 +31,8 @@
 #include <ddspipe_participants/reader/auxiliar/BlankReader.hpp>
 #include <ddspipe_participants/writer/auxiliar/BlankWriter.hpp>
 
-#include <ddsrecorder_participants/replayer/McapReaderParticipant.hpp>
 #include <ddsrecorder_participants/constants.hpp>
+#include <ddsrecorder_participants/replayer/McapReaderParticipant.hpp>
 
 namespace eprosima {
 namespace ddsrecorder {
diff --git a/ddsreplayer/src/cpp/tool/DdsReplayer.cpp b/ddsreplayer/src/cpp/tool/DdsReplayer.cpp
index 7c1f11cc9..7f917dd9b 100644
--- a/ddsreplayer/src/cpp/tool/DdsReplayer.cpp
+++ b/ddsreplayer/src/cpp/tool/DdsReplayer.cpp
@@ -352,8 +352,6 @@ void DdsReplayer::create_dynamic_writer_(
                 "Failed to create " << topic->type_name << " DynamicType, aborting dynamic writer creation...");
         return;
     }
-    logWarning(DDSREPLAYER_REPLAYER,
-            "Succesfully create " << topic->type_name << " DynamicType...");
 
     fastdds::dds::TypeSupport type(new fastrtps::types::DynamicPubSubType(dyn_type));
 
diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
index 9f4cd0f10..d8916290e 100644
--- a/docs/rst/notes/forthcoming_version.rst
+++ b/docs/rst/notes/forthcoming_version.rst
@@ -28,11 +28,11 @@ Next release will include the following **DDS Recorder tool configuration featur
 * New configuration options (``timestamp-format`` and ``local-timestamp``) available for :ref:`output file <recorder_usage_configuration_outputfile>` settings.
 * New configuration option (``topics``) to configure the :ref:`Manual Topics <recorder_manual_topics>`.
 * Rename ``max-reception-rate`` to ``max-rx-rate``.
-* Record information in either ROS 2 format or the raw DDS format (see :ref:`Topic Type Format <recorder_usage_configuration_topictypeformat>`).
+* Record data in either ROS 2 format or the raw DDS format (see :ref:`Topic Type Format <recorder_usage_configuration_topictypeformat>`).
 
 Next release will include the following **DDS Replayer tool configuration features**:
 
 * New configuration option (``topics``) to configure the :ref:`Manual Topics <replayer_manual_topics>`.
 * New configuration option (``max-tx-rate``) to configure the :ref:`Max transmission rate <replayer_max_tx_rate>`.
 * Remove the support for `Built-in Topics <https://dds-recorder.readthedocs.io/en/v0.2.0/rst/replaying/usage/configuration.html#built-in-topics>`_.
-* Replay information in either ROS 2 format or the raw DDS format.
+* Read data in either ROS 2 format or the raw DDS format.