From f01582c5e213284159042d517f9296c1485f7c46 Mon Sep 17 00:00:00 2001
From: Patrick Roncagliolo <ronca.pat@gmail.com>
Date: Thu, 26 Oct 2023 18:54:40 +0200
Subject: [PATCH] Various fixes

---
 .../src/rosbag2_storage_sqlite3/sqlite_storage.cpp       | 9 +++++----
 .../test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp | 4 ++--
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
index 5b810c8bd4..d8c48d3c95 100644
--- a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -604,7 +604,8 @@ void SqliteStorage::fill_topics_and_types()
           yaml_node,
           metadata_.version);
         std::vector<rclcpp::QoS> offered_qos_profiles;
-        std::copy(decoded.begin(), decoded.end(), offered_qos_profiles.begin());
+        offered_qos_profiles.reserve(decoded.size());
+        std::copy(decoded.begin(), decoded.end(), std::back_inserter(offered_qos_profiles));
         all_topics_and_types_.push_back(
           {
             std::get<0>(result),
@@ -625,7 +626,7 @@ void SqliteStorage::fill_topics_and_types()
           yaml_node,
           metadata_.version);
         std::vector<rclcpp::QoS> offered_qos_profiles;
-        std::copy(decoded.begin(), decoded.end(), offered_qos_profiles.begin());
+        std::copy(decoded.begin(), decoded.end(), std::back_inserter(offered_qos_profiles));
         all_topics_and_types_.push_back(
           {std::get<0>(result), std::get<1>(result), std::get<2>(result), offered_qos_profiles,
             ""});
@@ -707,7 +708,7 @@ void SqliteStorage::read_metadata()
           yaml_node,
           metadata_.version);
         std::vector<rclcpp::QoS> offered_qos_profiles;
-        std::copy(decoded.begin(), decoded.end(), offered_qos_profiles.begin());
+        std::copy(decoded.begin(), decoded.end(), std::back_inserter(offered_qos_profiles));
         metadata_.topics_with_message_count.push_back(
           {
             {std::get<0>(result), std::get<1>(result), std::get<2>(
@@ -737,7 +738,7 @@ void SqliteStorage::read_metadata()
           yaml_node,
           metadata_.version);
         std::vector<rclcpp::QoS> offered_qos_profiles;
-        std::copy(decoded.begin(), decoded.end(), offered_qos_profiles.begin());
+        std::copy(decoded.begin(), decoded.end(), std::back_inserter(offered_qos_profiles));
         metadata_.topics_with_message_count.push_back(
           {
             {std::get<0>(result), std::get<1>(result), std::get<2>(
diff --git a/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp b/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
index 4b418992f0..9070d85bae 100644
--- a/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
@@ -191,7 +191,7 @@ TEST_F(StorageTestFixture, get_all_topics_and_types_returns_the_correct_vector)
     topics_and_types, ElementsAreArray(
   {
     rosbag2_storage::TopicMetadata{"topic1", "type1", "rmw1", {rclcpp::QoS(1)}, "type_hash1"},
-    rosbag2_storage::TopicMetadata{"topic2", "type2", "rmw2", {rclcpp::QoS(1)}, "type_hash2"}
+    rosbag2_storage::TopicMetadata{"topic2", "type2", "rmw2", {rclcpp::QoS(2)}, "type_hash2"}
   }));
 }
 
@@ -269,7 +269,7 @@ TEST_F(StorageTestFixture, get_metadata_returns_correct_struct) {
     rosbag2_storage::TopicInformation{rosbag2_storage::TopicMetadata{
         "topic1", "type1", "rmw1", {rclcpp::QoS(1)}, "type_hash1"}, 2u},
     rosbag2_storage::TopicInformation{rosbag2_storage::TopicMetadata{
-        "topic2", "type2", "rmw2", {rclcpp::QoS(1)}, "type_hash2"}, 1u}
+        "topic2", "type2", "rmw2", {rclcpp::QoS(2)}, "type_hash2"}, 1u}
   }));
   EXPECT_THAT(metadata.message_count, Eq(3u));
   EXPECT_THAT(