Bug report

Required Info:

• Operating System:
  • Ubuntu 16.04
• Installation type:
  • Source
• Version or commit hash:
  • master
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

1. Compile latest ros2 from master: colcon build --symlink-install --cmake-args -DSECURITY=ON -DCMAKE_BUILD_TYPE=Debug
2. Source the workspace: source install/local_setup.bash
3. Set environments
   ROS_SECURITY_ROOT_DIRECTORY=~/security/keys
   ROS_SECURITY_ENABLE=true
   ROS_SECURITY_STRATEGY=Permissive
4. Run service_main

    $ ./install/examples_rclcpp_minimal_service/lib/examples_rclcpp_minimal_service/service_main &

5. Run client_main

    $ ./install/examples_rclcpp_minimal_client/lib/examples_rclcpp_minimal_client/client_main

Expected behavior

The service and client can communicate properly.

Actual behavior

The client send request and waiting forever. (1 in 3 times)

Additional information

It is also occurred in -DSECURITY=OFF. But you can easily reproduce the issue if you build with -DSERCURITY=ON.

Feature request

Feature description

Implementation considerations