Issue template

• Hardware description: Motoman robot and Ubuntu PC
• Version or commit hash: 51942f6

Steps to reproduce the issue

1. Start agent

2. Start server: (Modified rclc_examples) rclc_examples(server).zip

export RMW_IMPLEMENTATION=rmw_microxrcedds
cd microros_ws
source instal/local_setup.bash
ros2 run rclc_examples example_action_server

3. Start client action_tester(client).zip

cd microros_ws
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
source install/local_setup.bash
ros2 run action_tester fjt_test

Behavior

Any action-goal from the client that is greater than 896 bytes is not received by the server. The deserialization fails in rmw_take_request because the buffer length is 896 bytes.

I don't understand how the rmw_uxrce_find_static_input_buffer_by_owner function works. Where is it getting this memory block from? Why is it limited to 896?
Can I specify a custom memory block when initializing the action server?
Can I enable dynamic allocation using my custom allocator? (I tried DRMW_UXRCE_ALLOW_DYNAMIC_ALLOCATIONS; it didn't help.)

I appreciate any advice you can provide. Right now, my FollowJointTrajectory server is limited to only a handful of trajectory points. (About 10, depending on the specific robot configuration.)