Bug report

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • rolling (focal)
• Version or commit hash:
  • main (3ecb4d0)
• DDS implementation:
  • FastDDS

Steps to reproduce issue

Give lifecycle manager a node to manage that is erroring out, and for some reason doesn't create its lifecycle services properly.

Expected behavior

Failure to connect to lifecycle state services should eventually timeout, or indicate that the lifecycle node it is trying to manage is not working.

Actual behavior

lifecycle manager blocks indefinitely.

Additional information

I have a hard time getting this to reproduce reliably. I think the lifecycle services failing to come up has something to do with FastDDS shared mem. This is happening with just nav2 controller_server for me.

This is resulting in behavior observed in #3027, since the Controller server is unable to configure to provide the FollowPath action.