micro_ros_setup: After reconnecting to the agent, data cannot be received normally for a period of time

Issue template

• Hardware description: STM32F103
• RTOS: freertos
• Installation type: micro_ros_setup
• Version or commit hash: foxy

Steps to reproduce the issue

We created a subscriber on stm32f103, and created a publisher on another machine to publish the same topic at a frequency of 50hz. When stm32f103 successfully reconnects to the agent, it cannot subscribe to this topic for a certain period of time. After debugging, it was found that the problem appeared in the function “uxr_create_session_retries” of the file “session.c”. After calling the function “uxr_reset_stream_storage”, calling “wait_session_status” to receive data may cause “uxr_reset_stream_storage” to become invalid and cause problems. We try to call “uxr_reset_stream_storage” again after calling “wait_session_status” to avoid the problem, but I don’t know if this modification is feasible. I want to ask your suggestions?

bool uxr_create_session_retries(
        uxrSession* session,
        size_t retries)
{
    uxr_reset_stream_storage(&session->streams);

    uint8_t create_session_buffer[CREATE_SESSION_MAX_MSG_SIZE];
    ucdrBuffer ub;
    ucdr_init_buffer_origin_offset(&ub, create_session_buffer, CREATE_SESSION_MAX_MSG_SIZE, 0u, uxr_session_header_offset(
                &session->info));

    uxr_buffer_create_session(&session->info, &ub, (uint16_t)(session->comm->mtu - INTERNAL_RELIABLE_BUFFER_OFFSET));
    uxr_stamp_create_session_header(&session->info, ub.init);

    bool received = wait_session_status(session, create_session_buffer, ucdr_buffer_length(&ub), (size_t) retries);
    bool created = received && UXR_STATUS_OK == session->info.last_requested_status;
    
    printf("uxr_reset_stream_storage again\r\n");
    uxr_reset_stream_storage(&session->streams);

    return created;
}

Expected behavior

When we reconnect the agent successfully, the MCU can subscribe and respond to data normally.

Actual behavior

Additional information