check a local publication to ignore with serialized message. (#823)

Signed-off-by: Tomoya Fujita <[email protected]>
Co-authored-by: Barry Xu <[email protected]>

Author: fujitatomoya

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

@@ -330,6 +330,15 @@ _take_serialized_message(
       });
 
     if (info_seq[0].valid_data) {
+      if (subscription->options.ignore_local_publications) {
+        auto sample_writer_guid =
+          eprosima::fastdds::rtps::iHandle2GUID(info_seq[0].publication_handle);
+
+        if (sample_writer_guid.guidPrefix == info->data_reader_->guid().guidPrefix) {
+          // This is a local publication. Ignore it
+          continue;
+        }
+      }
       auto buffer_size = static_cast<size_t>(buffer.getBufferSize());
       if (serialized_message->buffer_capacity < buffer_size) {
         auto ret = rmw_serialized_message_resize(serialized_message, buffer_size);