FastDDS runtime issues [Humble, Rolling]

[henningkayser]

This is a meta-issue for tracking the current situation with performance regressions, freezes and crashes with FastDDS.

• Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 5.804189 seconds). Stopping trajectory. #1848
• MoveGroup Freezes on Init, Help! #1842
• Inconsistency in making work moveit2 in Humble #1810
• Tutorial panda robot not shown in rviz2 #1596
• MGI CallbackGroup doesn't trigger when running external Executor + Fast-DDS #1474

Workaround

Currently, the only known workaround for most of these issues is to switch to the RMW vendor CycloneDDS:

sudo apt install ros-rolling-rmw-cyclonedds-cpp

Then export the env variable. You may want to add this to ~/.bashrc to set it automatically.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

[vatanaksoytezer]

@henningkayser should we pin this issue, so it is more visible?

[henningkayser]

@henningkayser should we pin this issue, so it is more visible?

I've listed it in "Known Issues", isn't that enough for now?

[robinsonmm]

We are interested and monitoring this one, as RMW interoperability is of great interest. Thanks!

[tylerjw]

Here is the closest we have to a minimal example: #1474

[JafarAbdi]

@henningkayser Should we close this? The issue was fixed in the latest release and all the issues related to this are closed