Fast-DDS: Binding a Fast RTPS publisher with a ROS 2 Dashing subscriber node fails

I am pushing https://github.com/ros2/rmw_fastrtps/issues/251 here, as I am not sure at this point if this is a problem on the ROS 2 node or a problem on the agent code.

System specifications:

• OS: Ubuntu 18.04
• Fast-RTPS version: 1.8.2
• Fast-RTPS-Gen version: 1.0.2
• ROS 2 version: Dashing
• rmw_fastrtps version 0.7.6
• Setup: px4_ros_com built from source. Launching micrortps_bridge -t UDP in a console and sensor_combined_listener in another.

Code snippets:

• The agent publisher code:

/*!
 * @file SensorCombined_Publisher.cpp
 * This file contains the implementation of the publisher functions.
 *
 * This file was adapted from the fastcdrgen tool.
 */


#include <fastrtps/participant/Participant.h>
#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/publisher/Publisher.h>
#include <fastrtps/attributes/PublisherAttributes.h>

#include <fastrtps/Domain.h>


#include "SensorCombined_Publisher.h"


SensorCombined_Publisher::SensorCombined_Publisher() : mp_participant(nullptr), mp_publisher(nullptr) {}

SensorCombined_Publisher::~SensorCombined_Publisher() { Domain::removeParticipant(mp_participant);}

bool SensorCombined_Publisher::init()
{
    // Create RTPSParticipant
    ParticipantAttributes PParam;
    PParam.rtps.builtin.domainId = 0;
    PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
    PParam.rtps.setName("SensorCombined_publisher");  //You can put here the name you want
    mp_participant = Domain::createParticipant(PParam);
    if(mp_participant == nullptr)
        return false;

    // Register the type
    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));

    // Create Publisher
    PublisherAttributes Wparam;
    Wparam.topic.topicKind = NO_KEY;
    Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
    Wparam.topic.topicName = "rt/SensorCombined_PubSubTopic";
    mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
    if(mp_publisher == nullptr)
        return false;
    //std::cout << "Publisher created, waiting for Subscribers." << std::endl;
    return true;
}

void SensorCombined_Publisher::PubListener::onPublicationMatched(Publisher* pub, MatchingInfo& info)
{
    if (info.status == MATCHED_MATCHING)
    {
        n_matched++;
        std::cout << "Publisher matched" << std::endl;
    }
    else
    {
        n_matched--;
        std::cout << "Publisher unmatched" << std::endl;
    }
}

void SensorCombined_Publisher::run()
{
    while(m_listener.n_matched == 0)
    {
        std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
    }

    // Publication code
    px4_msgs::msg::SensorCombined st;

    /* Initialize your structure here */

    int msgsent = 0;
    char ch = 'y';
    do
    {
        if(ch == 'y')
        {
            mp_publisher->write(&st);  ++msgsent;
            std::cout << "Sending sample, count=" << msgsent << ", send another sample?(y-yes,n-stop): ";
        }
        else if(ch == 'n')
        {
            std::cout << "Stopping execution " << std::endl;
            break;
        }
        else
        {
            std::cout << "Command " << ch << " not recognized, please enter \"y/n\":";
        }
    }while(std::cin >> ch);
}

    void SensorCombined_Publisher::publish(px4_msgs::msg::SensorCombined* st)
{
    mp_publisher->write(st);
}

• The subscriber ROS 2 node:

/**
 * @brief Sensor Combined uORB topic listener example
 * @file sensor_combined_listener.cpp
 * @addtogroup examples
 * @author Nuno Marques <nuno.marques@dronesolutions.io>
 * @author Vicente Monge
 */

 #include <rclcpp/rclcpp.hpp>
 #include <px4_msgs/msg/sensor_combined.hpp>

/**
 * @brief Sensor Combined uORB topic data callback
 */
class SensorCombinedListener : public rclcpp::Node
{
public:
	explicit SensorCombinedListener() : Node("sensor_combined_listener") {
		subscription_ = this->create_subscription<px4_msgs::msg::SensorCombined>(
			"SensorCombined_PubSubTopic",
			[this](const px4_msgs::msg::SensorCombined::UniquePtr msg) {
			std::cout << "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n";
			std::cout << "RECEIVED SENSOR COMBINED DATA"   << std::endl;
			std::cout << "============================="   << std::endl;
			std::cout << "ts: "          << msg->timestamp    << std::endl;
			std::cout << "gyro_rad[0]: " << msg->gyro_rad[0]  << std::endl;
			std::cout << "gyro_rad[1]: " << msg->gyro_rad[1]  << std::endl;
			std::cout << "gyro_rad[2]: " << msg->gyro_rad[2]  << std::endl;
			std::cout << "gyro_integral_dt: " << msg->gyro_integral_dt << std::endl;
			std::cout << "accelerometer_timestamp_relative: " << msg->accelerometer_timestamp_relative << std::endl;
			std::cout << "accelerometer_m_s2[0]: " << msg->accelerometer_m_s2[0] << std::endl;
			std::cout << "accelerometer_m_s2[1]: " << msg->accelerometer_m_s2[1] << std::endl;
			std::cout << "accelerometer_m_s2[2]: " << msg->accelerometer_m_s2[2] << std::endl;
			std::cout << "accelerometer_integral_dt: " << msg->accelerometer_integral_dt << std::endl;
		});
	}

private:
	rclcpp::Subscription<px4_msgs::msg::SensorCombined>::SharedPtr subscription_;
};

int main(int argc, char *argv[])
{
	std::cout << "Starting sensor_combined listener node..." << std::endl;
	setvbuf(stdout, NULL, _IONBF, BUFSIZ);
	rclcpp::init(argc, argv);
	rclcpp::spin(std::make_shared<SensorCombinedListener>());

	rclcpp::shutdown();
	return 0;
}

A WireShark record from localhost with both agent and ROS 2 node subscriber running: https://drive.google.com/open?id=1QTx6xjRQZ1Rh1F-sibek40AvvSsF3hw6.

@richiware @LuisGP @MiguelCompany any tips will help, as this is currently a development blocker. Thank you!