Remove durability_is_transient_local_ from publisher_base

Signed-off-by: Jeffery Hsu <[email protected]>

Author: jefferyyjhsu

rclcpp/include/rclcpp/publisher_base.hpp

@@ -369,7 +369,6 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
   using IntraProcessManagerWeakPtr =
     std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
   bool intra_process_is_enabled_;
-  const bool durability_is_transient_local_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_publisher_id_;
 

rclcpp/src/rclcpp/publisher_base.cpp

@@ -48,8 +48,6 @@ PublisherBase::PublisherBase(
   const rcl_publisher_options_t & publisher_options)
 : rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
   intra_process_is_enabled_(false),
-  durability_is_transient_local_(
-    publisher_options.qos.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL),
   intra_process_publisher_id_(0),
   type_support_(type_support)
 {
@@ -211,7 +209,8 @@ PublisherBase::get_intra_process_subscription_count() const
 bool
 PublisherBase::is_durability_transient_local() const
 {
-  return durability_is_transient_local_;
+  return rcl_publisher_get_actual_qos(publisher_handle_.get())->durability ==
+         RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 }
 
 rclcpp::QoS