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Signed-off-by: tempate <[email protected]>
eProsima · Nov 7, 2023 · 4a0f594 · 4a0f594
1 parent aaab692
commit 4a0f594
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp b/ddspipe_participants/include/ddspipe_participants/writer/rtps/CommonWriter.hpp
@@ -112,7 +112,7 @@ class CommonWriter : public BaseWriter, public fastrtps::rtps::WriterListener
      * @brief CommonWriter Listener callback when all the Readers have received a change.
      *
      * This method is called when all the Readers subscribed to a Topic acknowledge that they have received a change.
-     * It removes the change from the Writer's history if the Writer is volatile.
+     * It removes the change from the Writer's history if the Writer is best-effort or volatile.
      *
      * @param [in] ch the change that has been acknowledged by all the Readers.
      */

diff --git a/ddspipe_participants/src/cpp/writer/rtps/CommonWriter.cpp b/ddspipe_participants/src/cpp/writer/rtps/CommonWriter.cpp
@@ -129,7 +129,8 @@ void CommonWriter::onWriterChangeReceivedByAll(
         fastrtps::rtps::RTPSWriter* /*writer*/,
         fastrtps::rtps::CacheChange_t* change)
 {
-    if (writer_qos_.m_durability.kind == fastdds::dds::VOLATILE_DURABILITY_QOS)
+    if (writer_qos_.m_reliability.kind == fastdds::dds::BEST_EFFORT_RELIABILITY_QOS ||
+            writer_qos_.m_durability.kind == fastdds::dds::VOLATILE_DURABILITY_QOS)
     {
         rtps_history_->remove_change_g(change);
     }