From d466a9ec6a1fc1ff4896db2f2925445196aea507 Mon Sep 17 00:00:00 2001
From: Hans-Joachim Krauch <achim.krauch@gmail.com>
Date: Tue, 14 Nov 2023 16:38:27 +0000
Subject: [PATCH] Trigger topic discovery after advertising client published
 topic

---
 ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp b/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
index 811764f..3b7fe2a 100644
--- a/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
+++ b/ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
@@ -345,6 +345,8 @@ class FoxgloveBridge : public nodelet::Nodelet {
       ROS_INFO("Client %s is advertising \"%s\" (%s) on channel %d",
                _server->remoteEndpointString(clientHandle).c_str(), channel.topic.c_str(),
                channel.schemaName.c_str(), channel.channelId);
+      // Trigger topic discovery so other clients are immediately informed about this new topic.
+      updateAdvertisedTopics();
     } else {
       const auto errMsg =
         "Failed to create publisher for topic " + channel.topic + "(" + channel.schemaName + ")";