Subscriptions not working on ROS2 rolling

[achim-k]

Description

• Version: latest
• Platform: ROS2 rolling / ubuntu jammy (provided docker image)

Steps To Reproduce

1. Run the bridge e.g. with docker run --pull --rm -it --name foxbridge --net=host ghcr.io/foxglove/rolling-ros2-bridge
2. Publish a periodic topic e.g. docker exec -it foxbridge bash -c "source /opt/ros/rolling/setup.bash && ros2 topic pub /foo std_msgs/String data:\ 'hello'"
3. Connect a client and observe that subscriptions are not working

• E.g. use Studio with a raw panel (https://studio.foxglove.dev/?ds=foxglove-websocket&ds.url=ws%3A%2F%2Flocalhost%3A8765)

Expected Behavior
Client should receive messages of subscribed channels

[defunctzombie]

https://linear.app/foxglove/issue/FG-1034/subscriptions-not-working-on-ros2-rolling-[foxgloveros-foxglove-bridge

Don't know why the bot did not comment on this.

[achim-k]

Observation: Making a graph change by e.g. publishing on a random topic (ros2 topic pub /asdf std_msgs/String data:\ "meh") triggers the bridge to send messages to the client 🤔

[achim-k]

Underlying rclcpp issue: ros2/rclcpp#2067