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Enable the property dds.ros.demangle_topic_and_type_names to announce the demangled topic name as a topic alias #221

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Merged
fujitatomoya merged 1 commit into from
Mar 24, 2026
+19 −0
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Enable the property dds.ros.demangle_topic_and_type_names to announce the demangled topic name as a topic alias #221

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19 changes: 19 additions & 0 deletions rmw_connextdds_common/src/ndds/dds_api_ndds.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -321,6 +321,25 @@ rmw_connextdds_initialize_participant_qos_impl(
}
#endif /* RMW_CONNEXT_FAST_ENDPOINT_DISCOVERY */

// Set dds.ros.demangle_topic_and_type_names to TRUE.
// This will announce a demangled topic name as a topic alias.
// This will enable interoperability with Connext applications using the
// demangled topic name. This should not impact compatibility with any other
// vendors, as the “mangled” topic name will still be announced as the real
// topic name. Set this property for versions 7.5+
#if (RTI_DDS_VERSION_MAJOR > 7) || (RTI_DDS_VERSION_MAJOR == 7 && RTI_DDS_VERSION_MINOR >= 5)
if (DDS_RETCODE_OK != DDS_PropertyQosPolicyHelper_assert_property(
&dp_qos->property,
"dds.ros.demangle_topic_and_type_names",
"TRUE",
DDS_BOOLEAN_FALSE))
{
RMW_CONNEXT_LOG_ERROR_SET(
"failed to assert property on participant: dds.ros.demangle_topic_and_type_names");
return RMW_RET_ERROR;
}
#endif

return RMW_RET_OK;
}

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