Include topic name in QoS mismatch warning messages (#1286)

* Include topic name in QoS mismatch warning messages

Signed-off-by: Morgan Quigley <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Author: codebot

rclcpp/src/rclcpp/publisher_base.cpp

@@ -262,7 +262,9 @@ PublisherBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
-    "New subscription discovered on this topic, requesting incompatible QoS. "
+    "New subscription discovered on topic '%s', requesting incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s", policy_name.c_str());
+    "Last incompatible policy: %s",
+    get_topic_name(),
+    policy_name.c_str());
 }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -245,9 +245,11 @@ SubscriptionBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
-    "New publisher discovered on this topic, offering incompatible QoS. "
+    "New publisher discovered on topic '%s', offering incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s", policy_name.c_str());
+    "Last incompatible policy: %s",
+    get_topic_name(),
+    policy_name.c_str());
 }
 
 bool

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -211,11 +211,11 @@ TEST_F(TestQosEvent, test_default_incompatible_qos_callbacks)
 
   if (!is_fastrtps) {
     EXPECT_EQ(
-      "New subscription discovered on this topic, requesting incompatible QoS. "
+      "New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
       "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
       pub_log_msg);
     EXPECT_EQ(
-      "New publisher discovered on this topic, offering incompatible QoS. "
+      "New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
       "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
       sub_log_msg);
   }