From db5e4fc4d8ea42300bb319c08588236b62a97a54 Mon Sep 17 00:00:00 2001
From: Martin Idel <external.Martin.Idel@bosch-si.com>
Date: Tue, 21 Aug 2018 13:22:36 +0200
Subject: [PATCH] Minor cleanup

---
 rosbag2/src/rosbag2/rosbag2.cpp                    |  1 -
 rosbag2/test/rosbag2/rosbag2_test_fixture.hpp      |  3 +--
 .../sqlite/sqlite_storage.cpp                      | 14 ++++++++------
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/rosbag2/src/rosbag2/rosbag2.cpp b/rosbag2/src/rosbag2/rosbag2.cpp
index 81205994ba..2abc6c2e48 100644
--- a/rosbag2/src/rosbag2/rosbag2.cpp
+++ b/rosbag2/src/rosbag2/rosbag2.cpp
@@ -81,7 +81,6 @@ void Rosbag2::play(const std::string & file_name, const std::string & topic_name
       std::this_thread::sleep_for(std::chrono::milliseconds(500));
       publisher->publish(string_message);
     }
-    rclcpp::spin_some(node);
   }
 }
 
diff --git a/rosbag2/test/rosbag2/rosbag2_test_fixture.hpp b/rosbag2/test/rosbag2/rosbag2_test_fixture.hpp
index eb7056a2d2..4737d9b5a7 100644
--- a/rosbag2/test/rosbag2/rosbag2_test_fixture.hpp
+++ b/rosbag2/test/rosbag2/rosbag2_test_fixture.hpp
@@ -99,8 +99,7 @@ class Rosbag2TestFixture : public Test
 
     if (storage) {
       while (storage->has_next()) {
-        auto message = storage->read_next();
-        table_msgs.emplace_back(message);
+        table_msgs.push_back(storage->read_next());
       }
     }
     return table_msgs;
diff --git a/rosbag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp b/rosbag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp
index fe7c8f173c..c2f96088a2 100644
--- a/rosbag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp
+++ b/rosbag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp
@@ -72,24 +72,26 @@ std::shared_ptr<rosbag2_storage::SerializedBagMessage> SqliteStorage::read_next(
   // TODO(Martin-Idel-SI): improve sqlite_wrapper interface
   std::string message;
   database_->get_message(message, counter_++);
-  auto msg = std::make_shared<rosbag2_storage::SerializedBagMessage>();
   auto payload = new rcutils_char_array_t;
   *payload = rcutils_get_zero_initialized_char_array();
-  payload->allocator = rcutils_get_default_allocator();
-  auto ret = rcutils_char_array_resize(payload, strlen(message.c_str()) + 1);
+  auto allocator = new rcutils_allocator_t;
+  *allocator = rcutils_get_default_allocator();
+  auto ret = rcutils_char_array_init(payload, strlen(message.c_str()) + 1, allocator);
   if (ret != RCUTILS_RET_OK) {
-    RCUTILS_LOG_ERROR_NAMED("rosbag2_storage_default_plugins",
-      " Failed to destroy serialized bag message");
+    throw std::runtime_error(std::string(" Failed to allocate serialized bag message ") +
+            rcutils_get_error_string_safe());
   }
   memcpy(payload->buffer, message.c_str(), strlen(message.c_str()) + 1);
 
+  auto msg = std::make_shared<rosbag2_storage::SerializedBagMessage>();
+  msg->time_stamp = 0;
   msg->serialized_data = std::shared_ptr<rcutils_char_array_t>(payload,
       [](rcutils_char_array_t * msg) {
         auto error = rcutils_char_array_fini(msg);
         delete msg;
         if (error != RCUTILS_RET_OK) {
           RCUTILS_LOG_ERROR_NAMED("rosbag2_storage_default_plugins",
-          " Failed to destroy serialized bag message");
+          " Failed to destroy serialized bag message %s", rcutils_get_error_string_safe());
         }
       });
   return msg;