rmw_fastrtps: message data is wrong when nested message contains floats and booleans

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04.3 LTS
• Installation type:
  • Binary
• Version or commit hash:

ros-iron-fastrtps 2.10.2-1jammy.20230908.160451 amd64 ros-iron-fastrtps-cmake-module 3.0.1-1jammy.20230908.160543 amd64 ros-iron-rmw-fastrtps-cpp 7.1.1-2jammy.20230908.165835 amd64 ros-iron-rmw-fastrtps-dynamic-cpp 7.1.1-2jammy.20230908.165838 amd64 ros-iron-rmw-fastrtps-shared-cpp 7.1.1-2jammy.20230908.165115 amd64 ros-iron-rosidl-dynamic-typesupport-fastrtps 0.0.2-2jammy.20230908.162712 amd64 ros-iron-rosidl-typesupport-fastrtps-c 3.0.1-1jammy.20230908.162548 amd64 ros-iron-rosidl-typesupport-fastrtps-cpp 3.0.1-1jammy.20230908.162358 amd64

• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

The bug can be reproduced by having a rclcpp node publish and subscribe to a custom message that has some bools as well as a nested message that has floats and bools

Outer.msg

nested_msg_pub_sub/Inner inner
bool bool_field_1
bool bool_field_2
bool bool_field_3

Inner.msg

float64 float_field
bool bool_field

Simple node that publishes and subscribes to the same topic that uses Outer.msg.

#include "rclcpp/rclcpp.hpp"
#include "nested_msg_pub_sub/msg/outer.hpp"

using namespace std::chrono_literals;

class MinimalPublisher : public rclcpp::Node
{
public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
    publisher_ = this->create_publisher<nested_msg_pub_sub::msg::Outer>("topic", 10);
    subscription_ = this->create_subscription<nested_msg_pub_sub::msg::Outer>(
      "topic", 10, std::bind(&MinimalPublisher::topic_callback, this, std::placeholders::_1));
    timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
  }

private:
  void timer_callback()
  {
    auto msg = nested_msg_pub_sub::msg::Outer();
    msg.inner.float_field = 1.23456789;
    msg.inner.bool_field = true;
    msg.bool_field_1 = true;
    msg.bool_field_2 = true;
    msg.bool_field_3 = true;
    std::string msg_str = nested_msg_pub_sub::msg::to_yaml(msg);
    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg_str.c_str());
    publisher_->publish(msg);
  }

  void topic_callback(const nested_msg_pub_sub::msg::Outer & msg) const  // CHANGE
  {
    std::string msg_str = nested_msg_pub_sub::msg::to_yaml(msg);
    RCLCPP_INFO(this->get_logger(), "Received: '%s'", msg_str.c_str());
  }

  rclcpp::Subscription<nested_msg_pub_sub::msg::Outer>::SharedPtr subscription_; 
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<nested_msg_pub_sub::msg::Outer>::SharedPtr publisher_;
  size_t count_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

Expected behavior

Received message should be the same as the published message.

Actual behavior

Received message have wrong values for boolean fields. This is the output that I get:

[minimal_publisher] [1696005743.235449725] [INFO] [timer_callback():32]: Publishing: 'inner:
  float_field: 1.23457
  bool_field: true
bool_field_1: true
bool_field_2: true
bool_field_3: true
'
[minimal_publisher] [1696005743.235686748] [INFO] [topic_callback():39]: Received: 'inner:
  float_field: 1.23457
  bool_field: true
bool_field_1: false
bool_field_2: false
bool_field_3: false
'

Additional information

The bug seems to only happen with fastrtps. With RMW_IMPLEMENTATION=rmw_cyclonedds_cpp things work fine.