From d7f44d2179a586ac71d1273f4060e369f2a8ca15 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Thu, 8 Feb 2024 13:14:38 -0500
Subject: [PATCH] don't advertise services if feature not enabled

---
 image_view/src/image_saver_node.cpp | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/image_view/src/image_saver_node.cpp b/image_view/src/image_saver_node.cpp
index 4982732d0..8f41a1b68 100644
--- a/image_view/src/image_saver_node.cpp
+++ b/image_view/src/image_saver_node.cpp
@@ -104,16 +104,21 @@ ImageSaverNode::ImageSaverNode(const rclcpp::NodeOptions & options)
     std::bind(
       &ImageSaverNode::service, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
-  start_srv_ = this->create_service<std_srvs::srv::Trigger>(
-    "start",
-    std::bind(
-      &ImageSaverNode::callbackStartSave, this, std::placeholders::_1, std::placeholders::_2,
-      std::placeholders::_3));
-  end_srv_ = this->create_service<std_srvs::srv::Trigger>(
-    "end",
-    std::bind(
-      &ImageSaverNode::callbackEndSave, this, std::placeholders::_1, std::placeholders::_2,
-      std::placeholders::_3));
+
+  // Advertise start/end services if the feature is enabled
+  if (request_start_end_)
+  {
+    start_srv_ = this->create_service<std_srvs::srv::Trigger>(
+      "start",
+      std::bind(
+        &ImageSaverNode::callbackStartSave, this, std::placeholders::_1, std::placeholders::_2,
+        std::placeholders::_3));
+    end_srv_ = this->create_service<std_srvs::srv::Trigger>(
+      "end",
+      std::bind(
+        &ImageSaverNode::callbackEndSave, this, std::placeholders::_1, std::placeholders::_2,
+        std::placeholders::_3));
+  }
 }
 
 bool ImageSaverNode::saveImage(