[Bug - CRITICAL]: Agent<->ROS2-Listener bind does not happen when the listener runs on a ROS2 Crystal environment

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nuno already contacted Borja

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➤ Nuno Marques commented:

STATUS: The problem may be with ROS2 rather than with fastrtpsgen. The reason is that fastrtpsgen is not changed since 4 months ago, while ROS2 is constantly updated. One thing I want to test is check if this works with Ardent (since I am currently doing testing with Bouncy).

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➤ Nuno Marques commented:

STATUS: I confirmed this still works well on ROS2 Ardent. The next test I am doing is building ROS2 Bouncy from source, set the enviroment with it, rebuild px4_ros_com and test with the sensor_combined_listener working on Bouncy (which was failing with Bouncy installed from deb)

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➤ Nuno Marques commented:

STATUS: Confirmed that there's no bind betweeen the publishing agent and the ROS2 listener when running over Bouncy. So something fundamental changed on the RTPS layer of Bouncy that needs to be addressed on the micrortps_agent pub/sub templates, or maybe even the IDL's, but I can't confirm what right now. @thomas Gubler eProsima input would be great here, or I will have to spend even more time trying to understand why this doesn't work with Bouncy. As a workaround, we can still work with ROS2 Ardent.

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➤ Nuno Marques commented:

Status: this problem still subsists. I opened an issue so to be tracked: ros2/rmw_fastrtps#251

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➤ Nuno Marques commented:

Already have an answer to this issue and have a solution to test: remove the partition from the templates (example: https://github.com/PX4/px4_ros_com/blob/master/msg/templates/Publisher.cpp.template#L98))

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➤ Nuno Marques commented:

Problem solved! Removing the partition and adding the "rt/" suffix to the topic name made all the difference. Now, to keep backwards comaptibility, I am adding a preprocessor variable to build one case or the other depending on the ROS DISTRO

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➤ Nuno Marques commented:

Added backsupport to Ardent as well by using preprocessors: 24bb4bd. This is now fixed for good!

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➤ Nuno Marques commented:

We have a new regression here that needs to be solved: ros2/rmw_fastrtps#251 (comment)

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➤ Nuno Marques commented:

Fixed with 59cfddd and PX4/px4_msgs@8792dd2