From a84a33bde7919dcbddc9ce77e7f16e160cc317a6 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Thu, 2 Apr 2020 20:24:24 +0000
Subject: [PATCH 01/13] Override Subscriber QoS

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../rosbag2_test_common/publisher_manager.hpp |  7 ++-
 .../rosbag2_transport/record_options.hpp      |  1 +
 .../src/rosbag2_transport/recorder.cpp        | 21 +++-----
 .../src/rosbag2_transport/recorder.hpp        | 14 +++++
 .../test/rosbag2_transport/test_record.cpp    | 53 +++++++++++++++++--
 5 files changed, 77 insertions(+), 19 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 80d63fbdbf..635edf5ea4 100644
--- a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
+++ b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
@@ -75,13 +75,16 @@ class PublisherManager
 
   template<class T>
   void add_publisher(
-    const std::string & topic_name, std::shared_ptr<T> message, size_t expected_messages = 0)
+    const std::string & topic_name,
+    std::shared_ptr<T> message,
+    size_t expected_messages = 0,
+    const rclcpp::QoS & qos = rclcpp::QoS(10))
   {
     auto node_name = std::string("publisher") + std::to_string(counter_++);
     auto publisher_node = std::make_shared<rclcpp::Node>(
       node_name,
       rclcpp::NodeOptions().start_parameter_event_publisher(false).enable_rosout(false));
-    auto publisher = publisher_node->create_publisher<T>(topic_name, 10);
+    auto publisher = publisher_node->create_publisher<T>(topic_name, qos);
 
     publisher_nodes_.push_back(publisher_node);
     publishers_.push_back(
diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index e53d9a1d31..20c72130ff 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -32,6 +32,7 @@ struct RecordOptions
   std::string node_prefix = "";
   std::string compression_mode = "";
   std::string compression_format = "";
+  std::string qos_profiles = "";
   bool include_hidden_topics = false;
 };
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index f0cf9ce0c1..414f063609 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -31,19 +31,6 @@
 #include "qos.hpp"
 #include "rosbag2_node.hpp"
 
-#ifdef _WIN32
-// This is necessary because of a bug in yaml-cpp's cmake
-#define YAML_CPP_DLL
-// This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
-# pragma warning(push)
-# pragma warning(disable:4251)
-# pragma warning(disable:4275)
-#endif
-#include "yaml-cpp/yaml.h"
-#ifdef _WIN32
-# pragma warning(pop)
-#endif
-
 namespace
 {
 bool all_qos_same(const std::vector<rclcpp::TopicEndpointInfo> & values)
@@ -67,6 +54,7 @@ Recorder::Recorder(std::shared_ptr<rosbag2_cpp::Writer> writer, std::shared_ptr<
 
 void Recorder::record(const RecordOptions & record_options)
 {
+  qos_profile_overrides_ = YAML::Load(record_options.qos_profiles);
   if (record_options.rmw_serialization_format.empty()) {
     throw std::runtime_error("No serialization format specified!");
   }
@@ -182,10 +170,15 @@ std::shared_ptr<GenericSubscription>
 Recorder::create_subscription(
   const std::string & topic_name, const std::string & topic_type, const rclcpp::QoS & qos)
 {
+  auto subscription_qos = Rosbag2QoS();
+  if (qos_profile_overrides_[topic_name]) {
+    subscription_qos = qos_profile_overrides_[topic_name].as<Rosbag2QoS>();
+    ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
+  }
   auto subscription = node_->create_generic_subscription(
     topic_name,
     topic_type,
-    qos,
+    subscription_qos,
     [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
       auto bag_message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
       bag_message->serialized_data = message;
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 25c842978e..f5fb1d9eea 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -23,6 +23,19 @@
 #include <utility>
 #include <vector>
 
+#ifdef _WIN32
+// This is necessary because of a bug in yaml-cpp's cmake
+#define YAML_CPP_DLL
+// This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
+# pragma warning(push)
+# pragma warning(disable:4251)
+# pragma warning(disable:4275)
+#endif
+#include "yaml-cpp/yaml.h"
+#ifdef _WIN32
+# pragma warning(pop)
+#endif
+
 #include "rclcpp/qos.hpp"
 
 #include "rosbag2_cpp/writer.hpp"
@@ -101,6 +114,7 @@ class Recorder
   std::unordered_map<std::string, std::shared_ptr<GenericSubscription>> subscriptions_;
   std::unordered_set<std::string> topics_warned_about_incompatibility_;
   std::string serialization_format_;
+  YAML::Node qos_profile_overrides_;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index ced11aec86..27e90697dc 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -20,6 +20,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+#include "../../src/rosbag2_transport/qos.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
 #include "test_msgs/msg/arrays.hpp"
@@ -100,8 +101,7 @@ TEST_F(RecordIntegrationTestFixture, qos_is_stored_in_metadata)
   ));
 }
 
-TEST_F(RecordIntegrationTestFixture, records_sensor_data)
-{
+TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
   using clock = std::chrono::system_clock;
   using namespace std::chrono_literals;
 
@@ -118,7 +118,7 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data)
       publisher->publish(msg);
     }
   );
-  MockSequentialWriter & writer =
+  MockSequentialWriter &writer =
     static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());
 
   auto start = clock::now();
@@ -141,3 +141,50 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data)
   EXPECT_FALSE(recorded_messages.empty());
 }
 #endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
+
+TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
+{
+  auto strict_msg = std::make_shared<test_msgs::msg::Strings>();
+  strict_msg->string_value = "strict";
+  std::string strict_topic = "/strict_topic";
+  std::string relaxed_topic = "/relaxed_topic";
+
+  rosbag2_transport::RecordOptions record_options =
+  {false, false, {strict_topic, relaxed_topic}, "rmw_format", 100ms};
+  // 0 means system default for all options
+  record_options.qos_profiles =
+    "/strict_topic:\n"
+    "  history: 2\n"      // Keep All
+    "  depth: 0\n"
+    "  reliability: 2\n"  // Best Effort
+    "  durability: 2\n"   // Volatile
+    "  deadline:\n"
+    "    sec: 0\n"
+    "    nsec: 0\n"
+    "  lifespan:\n"
+    "    sec: 0\n"
+    "    nsec: 0\n"
+    "    nsec: 0\n"
+    "  liveliness: 0\n"
+    "  liveliness_lease_duration:\n"
+    "    sec: 0\n"
+    "    nsec: 0\n"
+    "  avoid_ros_namespace_conventions: false\n";
+
+  // Create two publishers on the same topic with different QoS profiles.
+  // If no override is specified, then the recorder cannot see any published messages.
+  auto profile1 = rosbag2_transport::Rosbag2QoS().best_effort().durability_volatile();
+  auto profile2 = rosbag2_transport::Rosbag2QoS().best_effort().transient_local();
+  pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile1);
+  pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile2);
+
+  start_recording(record_options);
+  run_publishers();
+  stop_recording();
+
+  MockSequentialWriter & writer =
+    static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());
+  auto recorded_messages = writer.get_messages();
+
+  ASSERT_GE(recorded_messages.size(), 0u);
+}

From a0aa4b67e22b5c4897b9f67577a2146e36d09832 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Thu, 2 Apr 2020 22:49:06 +0000
Subject: [PATCH 02/13] Fix merge conflict

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/src/rosbag2_transport/recorder.cpp     | 2 +-
 rosbag2_transport/test/rosbag2_transport/test_record.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 414f063609..4fe4e5081d 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -170,7 +170,7 @@ std::shared_ptr<GenericSubscription>
 Recorder::create_subscription(
   const std::string & topic_name, const std::string & topic_type, const rclcpp::QoS & qos)
 {
-  auto subscription_qos = Rosbag2QoS();
+  Rosbag2QoS subscription_qos(qos);
   if (qos_profile_overrides_[topic_name]) {
     subscription_qos = qos_profile_overrides_[topic_name].as<Rosbag2QoS>();
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 27e90697dc..60a35e79ab 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -118,7 +118,7 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
       publisher->publish(msg);
     }
   );
-  MockSequentialWriter &writer =
+  MockSequentialWriter & writer =
     static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());
 
   auto start = clock::now();

From db47c2bc4e1a6157ecef0458bef48d452dfbcdf5 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Thu, 2 Apr 2020 22:53:40 +0000
Subject: [PATCH 03/13] Remove extra topic

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/test/rosbag2_transport/test_record.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 60a35e79ab..7fe04436be 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -147,10 +147,9 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
   auto strict_msg = std::make_shared<test_msgs::msg::Strings>();
   strict_msg->string_value = "strict";
   std::string strict_topic = "/strict_topic";
-  std::string relaxed_topic = "/relaxed_topic";
 
   rosbag2_transport::RecordOptions record_options =
-  {false, false, {strict_topic, relaxed_topic}, "rmw_format", 100ms};
+  {false, false, {strict_topic}, "rmw_format", 100ms};
   // 0 means system default for all options
   record_options.qos_profiles =
     "/strict_topic:\n"

From ecab1145107117810ddfdc14731be3e4142e64ed Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Fri, 3 Apr 2020 00:19:46 +0000
Subject: [PATCH 04/13] Auto and brace init

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../include/rosbag2_test_common/publisher_manager.hpp       | 2 +-
 rosbag2_transport/test/rosbag2_transport/test_record.cpp    | 6 +++---
 2 files changed, 4 insertions(+), 4 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 635edf5ea4..3baa19cc52 100644
--- a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
+++ b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
@@ -78,7 +78,7 @@ class PublisherManager
     const std::string & topic_name,
     std::shared_ptr<T> message,
     size_t expected_messages = 0,
-    const rclcpp::QoS & qos = rclcpp::QoS(10))
+    const rclcpp::QoS & qos = rclcpp::QoS{10})
   {
     auto node_name = std::string("publisher") + std::to_string(counter_++);
     auto publisher_node = std::make_shared<rclcpp::Node>(
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 7fe04436be..7207009478 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -172,8 +172,8 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 
   // Create two publishers on the same topic with different QoS profiles.
   // If no override is specified, then the recorder cannot see any published messages.
-  auto profile1 = rosbag2_transport::Rosbag2QoS().best_effort().durability_volatile();
-  auto profile2 = rosbag2_transport::Rosbag2QoS().best_effort().transient_local();
+  auto profile1 = rosbag2_transport::Rosbag2QoS{}.best_effort().durability_volatile();
+  auto profile2 = rosbag2_transport::Rosbag2QoS{}.best_effort().transient_local();
   pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile1);
   pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile2);
 
@@ -181,7 +181,7 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
   run_publishers();
   stop_recording();
 
-  MockSequentialWriter & writer =
+  auto & writer =
     static_cast<MockSequentialWriter &>(writer_->get_implementation_handle());
   auto recorded_messages = writer.get_messages();
 

From a93de075f13d6f21ddd00efcd1a06f8fa1cb1d88 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Fri, 3 Apr 2020 13:56:54 +0000
Subject: [PATCH 05/13] Switch override to map, move override logic

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../rosbag2_transport/record_options.hpp      |  5 +++-
 .../src/rosbag2_transport/recorder.cpp        | 16 +++++------
 .../src/rosbag2_transport/recorder.hpp        |  2 +-
 .../test/rosbag2_transport/test_record.cpp    | 28 ++++++-------------
 4 files changed, 21 insertions(+), 30 deletions(-)

diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index 20c72130ff..adb0573c2b 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -17,8 +17,11 @@
 
 #include <chrono>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
+#include "rclcpp/rclcpp.hpp"
+
 namespace rosbag2_transport
 {
 struct RecordOptions
@@ -32,7 +35,7 @@ struct RecordOptions
   std::string node_prefix = "";
   std::string compression_mode = "";
   std::string compression_format = "";
-  std::string qos_profiles = "";
+  std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides{};
   bool include_hidden_topics = false;
 };
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 4fe4e5081d..0daa129453 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -54,7 +54,7 @@ Recorder::Recorder(std::shared_ptr<rosbag2_cpp::Writer> writer, std::shared_ptr<
 
 void Recorder::record(const RecordOptions & record_options)
 {
-  qos_profile_overrides_ = YAML::Load(record_options.qos_profiles);
+  topic_qos_profile_overrides_ = record_options.topic_qos_profile_overrides;
   if (record_options.rmw_serialization_format.empty()) {
     throw std::runtime_error("No serialization format specified!");
   }
@@ -170,15 +170,10 @@ std::shared_ptr<GenericSubscription>
 Recorder::create_subscription(
   const std::string & topic_name, const std::string & topic_type, const rclcpp::QoS & qos)
 {
-  Rosbag2QoS subscription_qos(qos);
-  if (qos_profile_overrides_[topic_name]) {
-    subscription_qos = qos_profile_overrides_[topic_name].as<Rosbag2QoS>();
-    ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
-  }
   auto subscription = node_->create_generic_subscription(
     topic_name,
     topic_type,
-    subscription_qos,
+    qos,
     [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
       auto bag_message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
       bag_message->serialized_data = message;
@@ -213,6 +208,11 @@ std::string Recorder::serialized_offered_qos_profiles_for_topic(const std::strin
 
 rclcpp::QoS Recorder::common_qos_or_fallback(const std::string & topic_name)
 {
+  rclcpp::QoS subscription_qos{10};
+  if (topic_qos_profile_overrides_.count(topic_name)) {
+    subscription_qos = topic_qos_profile_overrides_.at(topic_name);
+    ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
+  }
   auto endpoints = node_->get_publishers_info_by_topic(topic_name);
   if (!endpoints.empty() && all_qos_same(endpoints)) {
     return Rosbag2QoS(endpoints[0].qos_profile()).default_history();
@@ -222,7 +222,7 @@ rclcpp::QoS Recorder::common_qos_or_fallback(const std::string & topic_name)
       "Cannot determine what QoS to request, falling back to default QoS profile."
   );
   topics_warned_about_incompatibility_.insert(topic_name);
-  return Rosbag2QoS{};
+  return subscription_qos;
 }
 
 void Recorder::warn_if_new_qos_for_subscribed_topic(const std::string & topic_name)
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index f5fb1d9eea..052a775597 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -114,7 +114,7 @@ class Recorder
   std::unordered_map<std::string, std::shared_ptr<GenericSubscription>> subscriptions_;
   std::unordered_set<std::string> topics_warned_about_incompatibility_;
   std::string serialization_format_;
-  YAML::Node qos_profile_overrides_;
+  std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides_;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 7207009478..3253f34328 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -16,6 +16,7 @@
 
 #include <memory>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
@@ -24,7 +25,6 @@
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
 #include "test_msgs/msg/arrays.hpp"
-#include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 
 #include "record_integration_fixture.hpp"
@@ -140,7 +140,6 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
   EXPECT_EQ(recorded_topics.size(), 1u);
   EXPECT_FALSE(recorded_messages.empty());
 }
-#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
 
 TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 {
@@ -151,24 +150,12 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
   rosbag2_transport::RecordOptions record_options =
   {false, false, {strict_topic}, "rmw_format", 100ms};
   // 0 means system default for all options
-  record_options.qos_profiles =
-    "/strict_topic:\n"
-    "  history: 2\n"      // Keep All
-    "  depth: 0\n"
-    "  reliability: 2\n"  // Best Effort
-    "  durability: 2\n"   // Volatile
-    "  deadline:\n"
-    "    sec: 0\n"
-    "    nsec: 0\n"
-    "  lifespan:\n"
-    "    sec: 0\n"
-    "    nsec: 0\n"
-    "    nsec: 0\n"
-    "  liveliness: 0\n"
-    "  liveliness_lease_duration:\n"
-    "    sec: 0\n"
-    "    nsec: 0\n"
-    "  avoid_ros_namespace_conventions: false\n";
+  const auto profile_override = rclcpp::QoS{10}
+  .best_effort().durability_volatile().keep_all().avoid_ros_namespace_conventions(false);
+  std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides = {
+    {"/strict_topic", profile_override}
+  };
+  record_options.topic_qos_profile_overrides = topic_qos_profile_overrides;
 
   // Create two publishers on the same topic with different QoS profiles.
   // If no override is specified, then the recorder cannot see any published messages.
@@ -187,3 +174,4 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 
   ASSERT_GE(recorded_messages.size(), 0u);
 }
+#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION

From 73f406d3aa7be71d8ae74c7a518a1f54c259211e Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Fri, 3 Apr 2020 14:05:39 +0000
Subject: [PATCH 06/13] Rename subscription f-n and update docs

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../src/rosbag2_transport/recorder.cpp          |  6 +++---
 .../src/rosbag2_transport/recorder.hpp          | 17 ++++++++++++-----
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 0daa129453..b4fd043739 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -150,9 +150,9 @@ void Recorder::subscribe_topic(const rosbag2_storage::TopicMetadata & topic)
   // that callback called before we reached out the line: writer_->create_topic(topic)
   writer_->create_topic(topic);
 
-  // TODO(emersonknapp) re-enable common_qos_or_fallback once the cyclone situation is resolved
+  // TODO(emersonknapp) re-enable subscription_qos_for_topic once the cyclone situation is resolved
   #ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
-  Rosbag2QoS subscription_qos{common_qos_or_fallback(topic.name)};
+  Rosbag2QoS subscription_qos{subscription_qos_for_topic(topic.name)};
   #else
   Rosbag2QoS subscription_qos{};
   #endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
@@ -206,7 +206,7 @@ std::string Recorder::serialized_offered_qos_profiles_for_topic(const std::strin
   return YAML::Dump(offered_qos_profiles);
 }
 
-rclcpp::QoS Recorder::common_qos_or_fallback(const std::string & topic_name)
+rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
 {
   rclcpp::QoS subscription_qos{10};
   if (topic_qos_profile_overrides_.count(topic_name)) {
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 052a775597..fa8f7f12bf 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -98,11 +98,18 @@ class Recorder
 
   void record_messages() const;
 
-  /** Find the QoS profile that should be used for subscribing.
-    * If all currently offered QoS Profiles for a topic are the same, return that profile.
-    * Otherwise, print a warning and return a fallback value.
-    */
-  rclcpp::QoS common_qos_or_fallback(const std::string & topic_name);
+  /**
+   * Find the QoS profile that should be used for subscribing.
+   *
+   * Profiles are prioritized by:
+   *   1. The override specified in the record_options, if one exists for the topic.
+   *   2. The common offered QoS profile.
+   *   2. A fallback QoS profile if the offered and requested profiles are different.
+   *
+   *   \param topic_name The full name of the topic, with namespace (ex. /arm/joint_status).
+   *   \return The QoS profile to be used for subscribing.
+   */
+  rclcpp::QoS subscription_qos_for_topic(const std::string & topic_name);
 
   // Serialize all currently offered QoS profiles for a topic into a YAML list.
   std::string serialized_offered_qos_profiles_for_topic(const std::string & topic_name);

From 64fac9366bb2228d611fcc4692a497fb22f3ecf2 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Fri, 3 Apr 2020 14:08:36 +0000
Subject: [PATCH 07/13] Add qos sub flag

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index f5fafca5f7..36b7899c34 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -15,6 +15,9 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
+# TODO(piraka9011) Remove once testing is finished
+add_definitions(-DROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION)
+
 # Windows supplies macros for min and max by default. We should only use min and max from stl
 if(WIN32)
   add_definitions(-DNOMINMAX)

From 5c0c12caef129d7250499377c0484ee122cf0498 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Fri, 3 Apr 2020 22:17:11 +0000
Subject: [PATCH 08/13] Move ifdefs, update comments, fix include paths

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../src/rosbag2_transport/recorder.cpp         |  8 +++-----
 .../src/rosbag2_transport/recorder.hpp         | 18 +++---------------
 .../test/rosbag2_transport/test_record.cpp     |  4 ++--
 3 files changed, 8 insertions(+), 22 deletions(-)

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index b4fd043739..cb72a57b08 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -150,12 +150,7 @@ void Recorder::subscribe_topic(const rosbag2_storage::TopicMetadata & topic)
   // that callback called before we reached out the line: writer_->create_topic(topic)
   writer_->create_topic(topic);
 
-  // TODO(emersonknapp) re-enable subscription_qos_for_topic once the cyclone situation is resolved
-  #ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   Rosbag2QoS subscription_qos{subscription_qos_for_topic(topic.name)};
-  #else
-  Rosbag2QoS subscription_qos{};
-  #endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   auto subscription = create_subscription(topic.name, topic.type, subscription_qos);
   if (subscription) {
     subscriptions_.insert({topic.name, subscription});
@@ -213,6 +208,8 @@ rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
     subscription_qos = topic_qos_profile_overrides_.at(topic_name);
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
   }
+  // TODO(emersonknapp) re-enable subscription_qos_for_topic once the cyclone situation is resolved
+#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   auto endpoints = node_->get_publishers_info_by_topic(topic_name);
   if (!endpoints.empty() && all_qos_same(endpoints)) {
     return Rosbag2QoS(endpoints[0].qos_profile()).default_history();
@@ -222,6 +219,7 @@ rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
       "Cannot determine what QoS to request, falling back to default QoS profile."
   );
   topics_warned_about_incompatibility_.insert(topic_name);
+#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   return subscription_qos;
 }
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index fa8f7f12bf..a00dfe5547 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -23,19 +23,6 @@
 #include <utility>
 #include <vector>
 
-#ifdef _WIN32
-// This is necessary because of a bug in yaml-cpp's cmake
-#define YAML_CPP_DLL
-// This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
-# pragma warning(push)
-# pragma warning(disable:4251)
-# pragma warning(disable:4275)
-#endif
-#include "yaml-cpp/yaml.h"
-#ifdef _WIN32
-# pragma warning(pop)
-#endif
-
 #include "rclcpp/qos.hpp"
 
 #include "rosbag2_cpp/writer.hpp"
@@ -103,8 +90,9 @@ class Recorder
    *
    * Profiles are prioritized by:
    *   1. The override specified in the record_options, if one exists for the topic.
-   *   2. The common offered QoS profile.
-   *   2. A fallback QoS profile if the offered and requested profiles are different.
+   *   2. The publisher's offered QoS profile.
+   *      If all current publishers are offering the exact same compatibility profile.
+   *   3. The default Rosbag2QoS profile, if the above conditions are not met.
    *
    *   \param topic_name The full name of the topic, with namespace (ex. /arm/joint_status).
    *   \return The QoS profile to be used for subscribing.
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 3253f34328..413c806ed0 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -21,7 +21,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "../../src/rosbag2_transport/qos.hpp"
+#include "qos.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
 #include "test_msgs/msg/arrays.hpp"
@@ -140,6 +140,7 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
   EXPECT_EQ(recorded_topics.size(), 1u);
   EXPECT_FALSE(recorded_messages.empty());
 }
+#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
 
 TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 {
@@ -174,4 +175,3 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 
   ASSERT_GE(recorded_messages.size(), 0u);
 }
-#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION

From e463ed935c900af46ff678afdd1d69323c285c81 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Mon, 6 Apr 2020 18:35:19 +0000
Subject: [PATCH 09/13] Fix merge conflicts

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index 36b7899c34..753877891c 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -155,7 +155,8 @@ function(create_tests_for_rmw_implementation)
     test/rosbag2_transport/test_record.cpp
     ${SKIP_TEST}
     LINK_LIBS rosbag2_transport
-    AMENT_DEPS test_msgs rosbag2_test_common)
+    AMENT_DEPS test_msgs rosbag2_test_common
+    INCLUDE_DIRS src/rosbag2_transport)
 
   rosbag2_transport_add_gmock(test_play
     test/rosbag2_transport/test_play.cpp

From e6f7ee28b0d07d5d2988f07af6a2a517971488fe Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Mon, 6 Apr 2020 19:01:07 +0000
Subject: [PATCH 10/13] Remove magic numbers, use KeepAll history

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 .../include/rosbag2_test_common/publisher_manager.hpp           | 2 +-
 rosbag2_transport/src/rosbag2_transport/recorder.cpp            | 2 +-
 2 files changed, 2 insertions(+), 2 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 3baa19cc52..f5c376b03b 100644
--- a/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
+++ b/rosbag2_test_common/include/rosbag2_test_common/publisher_manager.hpp
@@ -78,7 +78,7 @@ class PublisherManager
     const std::string & topic_name,
     std::shared_ptr<T> message,
     size_t expected_messages = 0,
-    const rclcpp::QoS & qos = rclcpp::QoS{10})
+    const rclcpp::QoS & qos = rclcpp::QoS{rclcpp::KeepAll()})
   {
     auto node_name = std::string("publisher") + std::to_string(counter_++);
     auto publisher_node = std::make_shared<rclcpp::Node>(
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index cb72a57b08..47ded97090 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -203,7 +203,7 @@ std::string Recorder::serialized_offered_qos_profiles_for_topic(const std::strin
 
 rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
 {
-  rclcpp::QoS subscription_qos{10};
+  rclcpp::QoS subscription_qos{rclcpp::KeepAll()};
   if (topic_qos_profile_overrides_.count(topic_name)) {
     subscription_qos = topic_qos_profile_overrides_.at(topic_name);
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);

From 422ffbe68ef6820f28a9201fe646f04641b34468 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Mon, 6 Apr 2020 19:40:01 +0000
Subject: [PATCH 11/13] Alpha sort, remove extra numbers, comments

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/CMakeLists.txt               |  6 +++---
 .../test/rosbag2_transport/test_record.cpp     | 18 ++++++++++--------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index 753877891c..de2335df2a 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -153,10 +153,10 @@ function(create_tests_for_rmw_implementation)
 
   rosbag2_transport_add_gmock(test_record
     test/rosbag2_transport/test_record.cpp
-    ${SKIP_TEST}
-    LINK_LIBS rosbag2_transport
     AMENT_DEPS test_msgs rosbag2_test_common
-    INCLUDE_DIRS src/rosbag2_transport)
+    INCLUDE_DIRS src
+    LINK_LIBS rosbag2_transport
+    ${SKIP_TEST})
 
   rosbag2_transport_add_gmock(test_play
     test/rosbag2_transport/test_play.cpp
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 413c806ed0..473c0f69b4 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -21,7 +21,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "qos.hpp"
+#include "rosbag2_transport/qos.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
 #include "test_msgs/msg/arrays.hpp"
@@ -144,17 +144,17 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
 
 TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 {
+  const auto num_expected_msgs = 3;
   auto strict_msg = std::make_shared<test_msgs::msg::Strings>();
   strict_msg->string_value = "strict";
-  std::string strict_topic = "/strict_topic";
+  const auto strict_topic = "/strict_topic";
 
   rosbag2_transport::RecordOptions record_options =
   {false, false, {strict_topic}, "rmw_format", 100ms};
-  // 0 means system default for all options
-  const auto profile_override = rclcpp::QoS{10}
-  .best_effort().durability_volatile().keep_all().avoid_ros_namespace_conventions(false);
+  const auto profile_override = rclcpp::QoS{rclcpp::KeepAll()}
+  .best_effort().durability_volatile().avoid_ros_namespace_conventions(false);
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides = {
-    {"/strict_topic", profile_override}
+    {strict_topic, profile_override}
   };
   record_options.topic_qos_profile_overrides = topic_qos_profile_overrides;
 
@@ -162,8 +162,10 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
   // If no override is specified, then the recorder cannot see any published messages.
   auto profile1 = rosbag2_transport::Rosbag2QoS{}.best_effort().durability_volatile();
   auto profile2 = rosbag2_transport::Rosbag2QoS{}.best_effort().transient_local();
-  pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile1);
-  pub_man_.add_publisher<test_msgs::msg::Strings>(strict_topic, strict_msg, 3, profile2);
+  pub_man_.add_publisher<test_msgs::msg::Strings>(
+    strict_topic, strict_msg, num_expected_msgs, profile1);
+  pub_man_.add_publisher<test_msgs::msg::Strings>(
+    strict_topic, strict_msg, num_expected_msgs, profile2);
 
   start_recording(record_options);
   run_publishers();

From ee80ffdb0041f63d0d726a2eb640da6301540d2f Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Tue, 7 Apr 2020 08:41:48 -0400
Subject: [PATCH 12/13] Clean up

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/CMakeLists.txt              |  3 ---
 .../src/rosbag2_transport/recorder.cpp        | 20 +++++++++++++++++--
 .../src/rosbag2_transport/recorder.hpp        |  4 ++--
 .../test/rosbag2_transport/test_record.cpp    |  8 ++++----
 4 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index de2335df2a..cb00ee96c2 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -15,9 +15,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
-# TODO(piraka9011) Remove once testing is finished
-add_definitions(-DROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION)
-
 # Windows supplies macros for min and max by default. We should only use min and max from stl
 if(WIN32)
   add_definitions(-DNOMINMAX)
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 47ded97090..09f69d0b7e 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -31,8 +31,23 @@
 #include "qos.hpp"
 #include "rosbag2_node.hpp"
 
+#ifdef _WIN32
+// This is necessary because of a bug in yaml-cpp's cmake
+#define YAML_CPP_DLL
+// This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
+# pragma warning(push)
+# pragma warning(disable:4251)
+# pragma warning(disable:4275)
+#endif
+#include "yaml-cpp/yaml.h"
+#ifdef _WIN32
+# pragma warning(pop)
+#endif
+
 namespace
 {
+// TODO(emersonknapp) re-enable subscription_qos_for_topic once the cyclone situation is resolved
+#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
 bool all_qos_same(const std::vector<rclcpp::TopicEndpointInfo> & values)
 {
   auto adjacent_different_elements_it = std::adjacent_find(
@@ -45,6 +60,7 @@ bool all_qos_same(const std::vector<rclcpp::TopicEndpointInfo> & values)
   // No adjacent elements were different, so all are the same.
   return adjacent_different_elements_it == values.end();
 }
+#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
 }  // unnamed namespace
 
 namespace rosbag2_transport
@@ -209,7 +225,7 @@ rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
     ROSBAG2_TRANSPORT_LOG_INFO_STREAM("Overriding subscription profile for " << topic_name);
   }
   // TODO(emersonknapp) re-enable subscription_qos_for_topic once the cyclone situation is resolved
-#ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
+  #ifdef ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   auto endpoints = node_->get_publishers_info_by_topic(topic_name);
   if (!endpoints.empty() && all_qos_same(endpoints)) {
     return Rosbag2QoS(endpoints[0].qos_profile()).default_history();
@@ -219,7 +235,7 @@ rclcpp::QoS Recorder::subscription_qos_for_topic(const std::string & topic_name)
       "Cannot determine what QoS to request, falling back to default QoS profile."
   );
   topics_warned_about_incompatibility_.insert(topic_name);
-#endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
+  #endif  // ROSBAG2_ENABLE_ADAPTIVE_QOS_SUBSCRIPTION
   return subscription_qos;
 }
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index a00dfe5547..2311b5839f 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -90,8 +90,8 @@ class Recorder
    *
    * Profiles are prioritized by:
    *   1. The override specified in the record_options, if one exists for the topic.
-   *   2. The publisher's offered QoS profile.
-   *      If all current publishers are offering the exact same compatibility profile.
+   *   2. The publisher's offered QoS profile if all current publishers are offering the exact same
+   *      compatibility profile.
    *   3. The default Rosbag2QoS profile, if the above conditions are not met.
    *
    *   \param topic_name The full name of the topic, with namespace (ex. /arm/joint_status).
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 473c0f69b4..0e2301596d 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -144,7 +144,7 @@ TEST_F(RecordIntegrationTestFixture, records_sensor_data) {
 
 TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
 {
-  const auto num_expected_msgs = 3;
+  const auto num_msgs = 3;
   auto strict_msg = std::make_shared<test_msgs::msg::Strings>();
   strict_msg->string_value = "strict";
   const auto strict_topic = "/strict_topic";
@@ -158,14 +158,14 @@ TEST_F(RecordIntegrationTestFixture, topic_qos_overrides)
   };
   record_options.topic_qos_profile_overrides = topic_qos_profile_overrides;
 
-  // Create two publishers on the same topic with different QoS profiles.
+  // Create two BEST_EFFORT publishers on the same topic with different Durability policies.
   // If no override is specified, then the recorder cannot see any published messages.
   auto profile1 = rosbag2_transport::Rosbag2QoS{}.best_effort().durability_volatile();
   auto profile2 = rosbag2_transport::Rosbag2QoS{}.best_effort().transient_local();
   pub_man_.add_publisher<test_msgs::msg::Strings>(
-    strict_topic, strict_msg, num_expected_msgs, profile1);
+    strict_topic, strict_msg, num_msgs, profile1);
   pub_man_.add_publisher<test_msgs::msg::Strings>(
-    strict_topic, strict_msg, num_expected_msgs, profile2);
+    strict_topic, strict_msg, num_msgs, profile2);
 
   start_recording(record_options);
   run_publishers();

From 398cc7fa517d8fcfe61656fc5b1dc73e65d5dee4 Mon Sep 17 00:00:00 2001
From: Anas Abou Allaban <aabouallaban@pm.me>
Date: Tue, 7 Apr 2020 08:45:47 -0400
Subject: [PATCH 13/13] Fix include dirs

Signed-off-by: Anas Abou Allaban <aabouallaban@pm.me>
---
 rosbag2_transport/CMakeLists.txt                         | 2 +-
 rosbag2_transport/test/rosbag2_transport/test_record.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index cb00ee96c2..4cd64a0386 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -151,7 +151,7 @@ function(create_tests_for_rmw_implementation)
   rosbag2_transport_add_gmock(test_record
     test/rosbag2_transport/test_record.cpp
     AMENT_DEPS test_msgs rosbag2_test_common
-    INCLUDE_DIRS src
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
     LINK_LIBS rosbag2_transport
     ${SKIP_TEST})
 
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 0e2301596d..efe1a75c54 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -21,7 +21,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "rosbag2_transport/qos.hpp"
+#include "qos.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
 
 #include "test_msgs/msg/arrays.hpp"