Dynamic bridge does not support bi-directional message transfer on the same topic

[dhood]

E.g. if you run a ROS 1 "talker", ROS 2 "listener" and a ROS 2 "talker" and ROS 1 "listener" on the same topic, the dynamic_bridge currently only bridges in one of the two directions at a time

[fmrico]

Using RTI Connext, I am able to to bridge in two directions at a time with that configuration.

Using Fast-RTPS, as you said, I am not able to bridge in two directions. Maybe related to ros2/rmw_fastrtps#127 ?

[fmrico]

I confirm that, after fixing ros2/rmw_fastrtps#127, ros1_bridge works correctly both using RTI Connext and Fast-RTPS.

I recommend to close this issue.