Address comments

Author: minggangw

lib/action/client.js

@@ -118,29 +118,6 @@ class ActionClient extends Entity {
       this.qos.statusSubQosProfile
     );
 
-    // Probe that the RMW actually supports content filtering before enabling
-    // the optimization. If the RMW does not support content filtering, the
-    // rcl layer returns RCL_RET_UNSUPPORTED which disables the optimization
-    // gracefully. However, probing upfront avoids the warning log on first use.
-    if (this._enableFeedbackMsgOptimization) {
-      try {
-        const probeSub = node.createSubscription(
-          this._typeClass.impl.FeedbackMessage,
-          actionName + '/_action/feedback',
-          () => {}
-        );
-        const supported =
-          typeof probeSub.isContentFilterSupported === 'function' &&
-          probeSub.isContentFilterSupported();
-        node.destroySubscription(probeSub);
-        if (!supported) {
-          this._enableFeedbackMsgOptimization = false;
-        }
-      } catch {
-        this._enableFeedbackMsgOptimization = false;
-      }
-    }
-
     node._addActionClient(this);
   }
 

test/test-action-client.js

@@ -321,30 +321,6 @@ describe('rclnodejs action client', function () {
       typeof nativeLoader.actionConfigureFeedbackSubFilterAddGoalId ===
       'function';
 
-    // Probe whether the RMW supports content filtering, matching the
-    // same check the ActionClient constructor performs.
-    let isContentFilterSupported = false;
-    beforeEach(function () {
-      if (isContentFilterSupported) return; // only probe once
-      if (isFeedbackFilterSupported()) {
-        try {
-          const loader = require('../lib/interface_loader.js');
-          const typeClass = loader.loadInterface(fibonacci);
-          const probeSub = node.createSubscription(
-            typeClass.impl.FeedbackMessage,
-            'fibonacci/_action/feedback',
-            () => {}
-          );
-          isContentFilterSupported =
-            typeof probeSub.isContentFilterSupported === 'function' &&
-            probeSub.isContentFilterSupported();
-          node.destroySubscription(probeSub);
-        } catch {
-          isContentFilterSupported = false;
-        }
-      }
-    });
-
     it('Test option defaults to false', function () {
       let client = new rclnodejs.ActionClient(node, fibonacci, 'fibonacci');
       assert.strictEqual(client._enableFeedbackMsgOptimization, false);
@@ -355,8 +331,8 @@ describe('rclnodejs action client', function () {
       let client = new rclnodejs.ActionClient(node, fibonacci, 'fibonacci', {
         enableFeedbackMsgOptimization: true,
       });
-      // Only enabled when native API exists AND the RMW supports content filtering
-      if (isFeedbackFilterSupported() && isContentFilterSupported) {
+      // Only enabled when native API exists
+      if (isFeedbackFilterSupported()) {
         assert.strictEqual(client._enableFeedbackMsgOptimization, true);
       } else {
         assert.strictEqual(client._enableFeedbackMsgOptimization, false);