Worked on improving the stability and reliability of ros2/rosbag2 by addressing issues in topic filtering and the RecorderImpl lifecycle using C++ and ROS2. Focused on preventing misconfigurations and data loss during bagging by deferring TopicFilter creation until after record_options_ was fully populated with expanded, namespaced topics. This approach ensured that filters operated on fully qualified topics and services, reducing runtime errors and increasing data integrity. The solution involved careful management of initialization order and filter logic, resulting in more accurate topic filtering and improved maintainability of the recording components within the rosbag2 repository during the development period.