rosbag_storage: Fixed unnecessary writing to map in write only mode #…

…1742 (#1798) Signed-off-by: Ted Kern <ted.kern@canonical.com>
ros · Aug 4, 2020 · 861eafd · 861eafd
1 parent 304b31f
commit 861eafd
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/tools/rosbag_storage/include/rosbag/bag.h b/tools/rosbag_storage/include/rosbag/bag.h
@@ -563,8 +563,11 @@ void Bag::doWrite(std::string const& topic, ros::Time const& time, T const& msg,
 
         std::multiset<IndexEntry>& chunk_connection_index = curr_chunk_connection_indexes_[connection_info->id];
         chunk_connection_index.insert(chunk_connection_index.end(), index_entry);
-        std::multiset<IndexEntry>& connection_index = connection_indexes_[connection_info->id];
-        connection_index.insert(connection_index.end(), index_entry);
+
+        if (mode_ != BagMode::Write) {
+          std::multiset<IndexEntry>& connection_index = connection_indexes_[connection_info->id];
+          connection_index.insert(connection_index.end(), index_entry);
+        }
 
         // Increment the connection count
         curr_chunk_info_.connection_counts[connection_info->id]++;