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Fix trying to get topic data that was already removed.#417

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dirk-thomas merged 3 commits intoros2:masterfrom
iuhilnehc-ynos:topic-fix-get-removed-data
Aug 6, 2020
Merged

Fix trying to get topic data that was already removed.#417
dirk-thomas merged 3 commits intoros2:masterfrom
iuhilnehc-ynos:topic-fix-get-removed-data

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@iuhilnehc-ynos iuhilnehc-ynos commented Jul 29, 2020 •
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This PR is related to ros2/rclcpp#1242

Signed-off-by: Chen.Lihui lihui.chen@sony.com

Fix trying to get topic data that was already removed.
08632e8 
Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
fujitatomoya
fujitatomoya reviewed Jul 30, 2020
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rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp Outdated

void
data_taken(eprosima::fastrtps::Subscriber * sub)
updateDataCount(eprosima::fastrtps::Subscriber * sub)
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@fujitatomoya fujitatomoya Jul 30, 2020

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it seems to be intentional to call this data_taken after if the data is taken from RTPSReader.

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@iuhilnehc-ynos iuhilnehc-ynos Jul 31, 2020

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I think so.

But from the sample, it seems there is a case as follow,

FastDDS -> rmw_fastrtps_cpp : there is a data changed coming, set a flag

rclcpp
   spin
      rcl_wait(rmw_wait) -> check the flag
      get_data()
          if true, data_taken() -> reset the flag

But If the data changed removed not in get_data(), rclcpp::spin will get the data again and again because no function will reset the flag

So I think data_taken might be renamed as updateDataCount, and if get_data() failed, it also call updateDataCount.

rmw_fastrtps_shared_cpp/src/rmw_take.cpp Outdated
*taken = true;
}
} else {
info->listener_->updateDataCount(info->subscriber_);
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this will be called in either way, maybe it can be outside of the if-else sentence. same below.

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@iuhilnehc-ynos iuhilnehc-ynos Jul 31, 2020

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I thought this before, this one could move after if so that use only one data_taken, but the latter one seems not because of a return ret; in the middle, and I don't want to update the original logic (such as data_taken() happened before _assign_message_info.

rmw_fastrtps_shared_cpp/src/rmw_take.cpp Outdated
*taken = true;
}
} else {
info->listener_->updateDataCount(info->subscriber_);
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could you elaborate why adding this will solve the problem and it should be added even when data is not taken.

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@iuhilnehc-ynos iuhilnehc-ynos Jul 31, 2020

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rmw_fastrtps_cpp use a variable data_ in SubListener to check if there is a topic data by onNewDataMessage which is called by FastDDS if there is a new change (mp_history->received_change)
but if FastDDS removed the change, it will not call a function to notify an interface of SubListener.

About why or in what kinds of cases will FastDDS remove the change, I need more time to investigate it.

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About why or in what kinds of cases will FastDDS remove the change, I need more time to investigate it.

Maybe this is hard to investigate. It is better to consult eProsmia team.

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@iuhilnehc-ynos iuhilnehc-ynos Aug 4, 2020

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@Barry-Xu-2018

Yes. This PR maybe is just a workaround, not a solution.
It is better to call eProsima team in.

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fujitatomoya commented Aug 4, 2020

CC: @MiguelCompany @richiware

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MiguelCompany commented Aug 4, 2020

@iuhilnehc-ynos

in what kinds of cases will FastDDS remove the change

Apart from a call to takeNextData, changes in the history of a reader are removed:

  • When History QoS is Keep Last, the history is full, and a new sample comes in, the oldest one is removed. This is covered by the code in onNewDataMessage
  • When the corresponding publisher is unmatched. This could be done inside the onSubscriptionMatched method of the listener.

Looking at this PR, I have seen that the code of onNewDataMessage is exactly the same as the code on data_taken, so I would:

  • Rename data_taken to update_unread_count (better with underscores)
  • Change the code of onNewDataMessage to just call update_unread_count
  • Leave the code of _take as it was. Just change data_taken with update_unread_count
  • Call update_unread_count after this line

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iuhilnehc-ynos commented Aug 5, 2020

@MiguelCompany

Thanks for your reply.

After doing this step, there will be a double lock for internalMutex_, so maybe I need to update with one of the following methods:

  • change the type with a recursive mutex for internalMutex_
  • use {} to control the scope of internalMutex_ on onSubscriptionMatched
  • use an extra mutex. (one for publishers_, the other for data_)

Could you give me a suggestion?

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MiguelCompany commented Aug 5, 2020

Could you give me a suggestion?

I think the best solution is to use {} on the whole code of onSubscriptionMatched and call update_unread_count afterward. We will update the count when a new writer is matched, which will most probably be a noop, but new matches are not frequent and we can afford that small overhead.

Chen.Lihui added 2 commits August 5, 2020 16:40
Revert "Fix trying to get topic data that was already removed."
9c1e52e 
This reverts commit 08632e8.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
Updated based on suggestions
6a5272f 
Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
@iuhilnehc-ynos iuhilnehc-ynos force-pushed the topic-fix-get-removed-data branch from 92099b7 to 6a5272f Compare August 5, 2020 08:42
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iuhilnehc-ynos commented Aug 5, 2020

@MiguelCompany

I think the best solution is to use {} on the whole code of onSubscriptionMatched and call update_unread_count afterward.

Thank you.
I have updated it. Could you help review it in your spare time?

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MiguelCompany commented Aug 5, 2020

This looks good to me, but someone from Open Robotics should take a look and launch CI.

@dirk-thomas is the maintainer of this repo.

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dirk-thomas commented Aug 5, 2020

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dirk-thomas commented Aug 5, 2020

Does this patch resolve the referenced issue ros2/rclcpp#1242? Should it be considered for backporting - if yes, to which distros?

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iuhilnehc-ynos commented Aug 6, 2020

@dirk-thomas

Does this patch resolve the referenced issue ros2/rclcpp#1242? Should it be considered for backporting - if yes, to which distros?

Yes. I think it could be backported to dashing and foxy.

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fujitatomoya commented Aug 6, 2020

@iuhilnehc-ynos

It would be better that we do confirm this problem can be also observed in dashing and eloquent to make sure. could you do that?

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iuhilnehc-ynos commented Aug 6, 2020

@fujitatomoya

It would be better that we do confirm this problem can be also observed in dashing and eloquent to make sure. could you do that?

Yes. I'll use the sample to confirm if the problem exists on dashing and eloquent.

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iuhilnehc-ynos commented Aug 6, 2020

@fujitatomoya @dirk-thomas

I can't reproduce this problem on ros:dashing or ros:eloquent from dockerhub.

log on dashing, cpu usage: ~0% 

root@ros2_issues_test_dashing:~/workspace# ros2 run rclcpp_issue_1242 main __log_level:=debug
[DEBUG] [rclcpp]: signal handler installed
[DEBUG] [rclcpp]: deferred_signal_handler(): waiting for SIGINT or uninstall
[DEBUG] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[DEBUG] [rcl]: Initializing node 'test_node' in namespace ''
[DEBUG] [rcl]: Using domain ID of '29'
[DEBUG] [rcl]: Using security: false
[DEBUG] [rcl]: Initializing publisher for topic name 'rosout'
[DEBUG] [rcl]: Expanded topic name '/rosout'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Node initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/get_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/get_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_parametersReply' with type 'rcl_interfaces::srv::dds_::GetParameters_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/get_parameter_types'
[DEBUG] [rcl]: Expanded service name '/test_node/get_parameter_types'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_parameter_typesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_parameter_typesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_parameter_typesReply' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/set_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/set_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/set_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/set_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/set_parametersReply' with type 'rcl_interfaces::srv::dds_::SetParameters_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/set_parameters_atomically'
[DEBUG] [rcl]: Expanded service name '/test_node/set_parameters_atomically'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/set_parameters_atomicallyRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/set_parameters_atomicallyReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/set_parameters_atomicallyReply' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/describe_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/describe_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/describe_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/describe_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/describe_parametersReply' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/list_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/list_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/list_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/list_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/list_parametersReply' with type 'rcl_interfaces::srv::dds_::ListParameters_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing publisher for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Initializing subscription for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription initialized
[DEBUG] [rcl]: Initializing publisher for topic name '~/transition_event'
[DEBUG] [rcl]: Expanded topic name '/test_node/transition_event'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/test_node/transition_event' with type 'lifecycle_msgs::msg::dds_::TransitionEvent_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Initializing service for service name '~/change_state'
[DEBUG] [rcl]: Expanded service name '/test_node/change_state'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/change_stateRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/change_stateReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_state'
[DEBUG] [rcl]: Expanded service name '/test_node/get_state'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_stateRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_stateReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_stateRequest' with type 'lifecycle_msgs::srv::dds_::GetState_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_stateReply' with type 'lifecycle_msgs::srv::dds_::GetState_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_available_states'
[DEBUG] [rcl]: Expanded service name '/test_node/get_available_states'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_available_statesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_available_statesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_statesRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableStates_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_statesReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableStates_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_available_transitions'
[DEBUG] [rcl]: Expanded service name '/test_node/get_available_transitions'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_available_transitionsRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_available_transitionsReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_transition_graph'
[DEBUG] [rcl]: Expanded service name '/test_node/get_transition_graph'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_transition_graphRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_transition_graphReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_transition_graphRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_transition_graphReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.1a.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false



// after ros2 lifecycle set /test_node 1   

[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.22.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.22.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.26.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.26.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.22.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false



// after ros2 lifecycle set /test_node 3


[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.36.31.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Initializing node 'service_node' in namespace ''
[DEBUG] [rcl]: Using domain ID of '29'
[DEBUG] [rcl]: Using security: false
[DEBUG] [rcl]: Initializing publisher for topic name 'rosout'
[DEBUG] [rcl]: Expanded topic name '/rosout'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Node initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/get_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/get_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/get_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/get_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parametersReply' with type 'rcl_interfaces::srv::dds_::GetParameters_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/get_parameter_types'
[DEBUG] [rcl]: Expanded service name '/service_node/get_parameter_types'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/get_parameter_typesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/get_parameter_typesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parameter_typesReply' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/set_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/set_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/set_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/set_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parametersReply' with type 'rcl_interfaces::srv::dds_::SetParameters_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/set_parameters_atomically'
[DEBUG] [rcl]: Expanded service name '/service_node/set_parameters_atomically'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/set_parameters_atomicallyRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/set_parameters_atomicallyReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parameters_atomicallyReply' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/describe_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/describe_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/describe_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/describe_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/describe_parametersReply' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/list_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/list_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/list_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/list_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/list_parametersReply' with type 'rcl_interfaces::srv::dds_::ListParameters_Response_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing publisher for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Initializing subscription for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription initialized
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1a.31.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Finalizing subscription
[DEBUG] [rcl]: Subscription finalized
[DEBUG] [rcl]: Finalizing subscription
[DEBUG] [rcl]: Subscription finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing publisher
[DEBUG] [rcl]: Publisher finalized
[DEBUG] [rcl]: Finalizing publisher
[DEBUG] [rcl]: Publisher finalized
[DEBUG] [rcl]: Finalizing node
[DEBUG] [rcl]: Finalizing publisher
[DEBUG] [rcl]: Publisher finalized
[DEBUG] [rcl]: Node finalized
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
//no more message


root@ros2_issues_test_dashing# top -p 12570

top - 08:22:34 up 16 days,  1:48,  0 users,  load average: 0.24, 0.46, 0.67
Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
%Cpu(s):  1.6 us,  0.5 sy,  0.0 ni, 97.0 id,  0.5 wa,  0.0 hi,  0.4 si,  0.0 st
KiB Mem : 16303176 total,   363288 free, 10878224 used,  5061664 buff/cache
KiB Swap: 35333116 total, 34431336 free,   901780 used.  3910496 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND                                                                                                          
  12570 root      20   0  794124  23324  14308 S   0.0  0.1   0:00.08 main

log on eloquent, cpu usage: ~3% 

root@ros2_issues_test_eloquent:~/workspace# ros2 run rclcpp_issue_1242 main --ros-args --log-level debug
[DEBUG] [rclcpp]: signal handler installed
[DEBUG] [rclcpp]: deferred_signal_handler(): waiting for SIGINT or uninstall
[DEBUG] [rcl]: Initializing wait set with '0' subscriptions, '2' guard conditions, '0' timers, '0' clients, '0' services
[DEBUG] [rcl]: Initializing node 'test_node' in namespace ''
[DEBUG] [rcl]: Using domain ID of '30'
[DEBUG] [rcl]: Using security: false
[DEBUG] [rcl]: Initializing publisher for topic name 'rosout'
[DEBUG] [rcl]: Expanded topic name '/rosout'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Node initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/get_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/get_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_parametersReply' with type 'rcl_interfaces::srv::dds_::GetParameters_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/get_parameter_types'
[DEBUG] [rcl]: Expanded service name '/test_node/get_parameter_types'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_parameter_typesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_parameter_typesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_parameter_typesReply' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/set_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/set_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/set_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/set_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/set_parametersReply' with type 'rcl_interfaces::srv::dds_::SetParameters_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/set_parameters_atomically'
[DEBUG] [rcl]: Expanded service name '/test_node/set_parameters_atomically'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/set_parameters_atomicallyRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/set_parameters_atomicallyReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/set_parameters_atomicallyReply' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/describe_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/describe_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/describe_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/describe_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/describe_parametersReply' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'test_node/list_parameters'
[DEBUG] [rcl]: Expanded service name '/test_node/list_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/list_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/list_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/list_parametersReply' with type 'rcl_interfaces::srv::dds_::ListParameters_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing publisher for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Initializing subscription for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription initialized
[DEBUG] [rcl]: Initializing publisher for topic name '~/transition_event'
[DEBUG] [rcl]: Expanded topic name '/test_node/transition_event'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/test_node/transition_event' with type 'lifecycle_msgs::msg::dds_::TransitionEvent_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Initializing service for service name '~/change_state'
[DEBUG] [rcl]: Expanded service name '/test_node/change_state'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/change_stateRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/change_stateReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_state'
[DEBUG] [rcl]: Expanded service name '/test_node/get_state'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_stateRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_stateReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_stateRequest' with type 'lifecycle_msgs::srv::dds_::GetState_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_stateReply' with type 'lifecycle_msgs::srv::dds_::GetState_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_available_states'
[DEBUG] [rcl]: Expanded service name '/test_node/get_available_states'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_available_statesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_available_statesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_statesRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableStates_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_statesReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableStates_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_available_transitions'
[DEBUG] [rcl]: Expanded service name '/test_node/get_available_transitions'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_available_transitionsRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_available_transitionsReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name '~/get_transition_graph'
[DEBUG] [rcl]: Expanded service name '/test_node/get_transition_graph'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/test_node/get_transition_graphRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/test_node/get_transition_graphReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_transition_graphRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_transition_graphReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.0.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false


// after ros2 lifecycle set /test_node 1


[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.7.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.7.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription in wait set is ready
[DEBUG] [rcl]: Subscription taking message
[DEBUG] [rcl]: Subscription take succeeded: true
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.7.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false


// after ros2 lifecycle set /test_node 3

[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription in wait set is ready
[DEBUG] [rcl]: Subscription taking message
[DEBUG] [rcl]: Subscription take succeeded: true
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service in wait set is ready
[DEBUG] [rcl]: Service server taking service request
[DEBUG] [rcl]: Service take request succeeded: true
[DEBUG] [rcl]: Initializing node 'service_node' in namespace ''
[DEBUG] [rcl]: Using domain ID of '30'
[DEBUG] [rcl]: Using security: false
[DEBUG] [rcl]: Initializing publisher for topic name 'rosout'
[DEBUG] [rcl]: Expanded topic name '/rosout'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rcl]: Node initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/get_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/get_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/get_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/get_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parametersReply' with type 'rcl_interfaces::srv::dds_::GetParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/get_parameter_types'
[DEBUG] [rcl]: Expanded service name '/service_node/get_parameter_types'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/get_parameter_typesRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/get_parameter_typesReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parameter_typesReply' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/set_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/set_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/set_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/set_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parametersReply' with type 'rcl_interfaces::srv::dds_::SetParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/set_parameters_atomically'
[DEBUG] [rcl]: Expanded service name '/service_node/set_parameters_atomically'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/set_parameters_atomicallyRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/set_parameters_atomicallyReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parameters_atomicallyReply' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing service for service name 'service_node/describe_parameters'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parametersReply' with type 'rcl_interfaces::srv::dds_::GetParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Expanded service name '/service_node/describe_parameters'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/get_parameter_typesReply' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/describe_parametersRequest
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/describe_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parametersReply' with type 'rcl_interfaces::srv::dds_::SetParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parametersRequest' with type 'rcl_interfaces::srv::dds_::GetParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/get_parameter_typesRequest' with type 'rcl_interfaces::srv::dds_::GetParameterTypes_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/describe_parametersReply' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parametersRequest' with type 'rcl_interfaces::srv::dds_::SetParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/set_parameters_atomicallyRequest' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/set_parameters_atomicallyReply' with type 'rcl_interfaces::srv::dds_::SetParametersAtomically_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Initializing service for service name 'service_node/list_parameters'
[DEBUG] [rcl]: Expanded service name '/service_node/list_parameters'
[DEBUG] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [rmw_fastrtps_cpp]: Sub Topic rq/service_node/list_parametersRequest
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/describe_parametersRequest' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_cpp]: Pub Topic rr/service_node/list_parametersReply
[DEBUG] [rmw_fastrtps_cpp]: ***********
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/describe_parametersReply' with type 'rcl_interfaces::srv::dds_::DescribeParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/rosout' with type 'rcl_interfaces::msg::dds_::Log_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/service_node/list_parametersRequest' with type 'rcl_interfaces::srv::dds_::ListParameters_Request_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/list_parametersReply' with type 'rcl_interfaces::srv::dds_::ListParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/get_available_transitionsRequest' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Request_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rq/test_node/change_stateRequest' with type 'lifecycle_msgs::srv::dds_::ChangeState_Request_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/service_node/list_parametersReply' with type 'rcl_interfaces::srv::dds_::ListParameters_Response_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/get_available_transitionsReply' with type 'lifecycle_msgs::srv::dds_::GetAvailableTransitions_Response_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rr/test_node/change_stateReply' with type 'lifecycle_msgs::srv::dds_::ChangeState_Response_' for node '1.f.4.e1.1c.6.0.0.1.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Service initialized
[DEBUG] [rcl]: Initializing publisher for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Publisher initialized
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Initializing subscription for topic name 'parameter_events'
[DEBUG] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Subscription initialized
[DEBUG] [rmw_fastrtps_shared_cpp]: Adding topic 'rt/parameter_events' with type 'rcl_interfaces::msg::dds_::ParameterEvent_' for node '1.f.4.e1.0.6.0.0.2.0.0.0|0.0.1.c1'
[DEBUG] [rcl]: Finalizing subscription
[DEBUG] [rcl]: Subscription finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing service
[DEBUG] [rcl]: Service finalized
[DEBUG] [rcl]: Finalizing publisher
[DEBUG] [rcl]: Publisher finalized
[DEBUG] [rcl]: Finalizing node
[DEBUG] [rcl]: Finalizing publisher
[DEBUG] [rcl]: Publisher finalized
[DEBUG] [rcl]: Node finalized
[DEBUG] [rcl]: Sending service response
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
[DEBUG] [rcl]: Guard condition in wait set is ready
[DEBUG] [rcl]: Waiting without timeout
[DEBUG] [rcl]: Timeout calculated based on next scheduled timer: false
// no more message



root@ros2_issues_test_eloquent:~/workspace# top -p 1536

top - 08:26:02 up 16 days,  1:51,  0 users,  load average: 0.40, 0.52, 0.66
Tasks:   1 total,   0 running,   1 sleeping,   0 stopped,   0 zombie
%Cpu(s):  5.8 us,  2.1 sy,  0.0 ni, 91.7 id,  0.0 wa,  0.0 hi,  0.4 si,  0.0 st
KiB Mem : 16303176 total,   342704 free, 10930872 used,  5029600 buff/cache
KiB Swap: 35333116 total, 34440552 free,   892564 used.  3842928 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND                                                                                                          
   1536 root      20   0  859980  22140  15096 S   3.3  0.1   0:02.54 main

@dirk-thomas dirk-thomas merged commit 857d19b into ros2:master Aug 6, 2020
dirk-thomas pushed a commit that referenced this pull request Aug 6, 2020
@dirk-thomas
Fix trying to get topic data that was already removed. (#417)
470d54f 
* Fix trying to get topic data that was already removed.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Revert "Fix trying to get topic data that was already removed."

This reverts commit 08632e8.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Updated based on suggestions

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
@dirk-thomas dirk-thomas added the bug Something isn't working label Aug 6, 2020
@dirk-thomas dirk-thomas mentioned this pull request Aug 6, 2020
Merged
dirk-thomas pushed a commit that referenced this pull request Aug 6, 2020
@dirk-thomas
Fix trying to get topic data that was already removed. (#417)
3380e50 
* Fix trying to get topic data that was already removed.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Revert "Fix trying to get topic data that was already removed."

This reverts commit 08632e8.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Updated based on suggestions

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
dirk-thomas added a commit that referenced this pull request Aug 6, 2020
@dirk-thomas
[backport foxy] Fix trying to get topic data that was already removed (…
c35b42c 
…#421)

* Fix trying to get topic data that was already removed. (#417)

* Fix trying to get topic data that was already removed.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Revert "Fix trying to get topic data that was already removed."

This reverts commit 08632e8.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>

* Updated based on suggestions

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

* revert rename of function

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

Co-authored-by: Chen Lihui <lihui.chen@sony.com>
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-shared-cpp-release that referenced this pull request May 21, 2022
@hidmic @timonegk
Import Debian changes 6.2.1-1jammy
41927c9 
ros-rolling-rmw-fastrtps-shared-cpp (6.2.1-1jammy) jammy; urgency=high
.
  * Address linter waning for windows. (#592 <ros2/rmw_fastrtps#592>)
  * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>)
  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, Tomoya Fujita
.
ros-rolling-rmw-fastrtps-shared-cpp (6.2.0-1jammy) jammy; urgency=high
.
  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Complete events support (#583 <ros2/rmw_fastrtps#583>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Change default to synchronous (#571 <ros2/rmw_fastrtps#571>)
  * Contributors: Audrow Nash, Miguel Company, Shane Loretz, iRobot ROS
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.2-1jammy) jammy; urgency=high
.
  * Fix cpplint error (#574 <ros2/rmw_fastrtps#574>)
  * Contributors: Jacob Perron
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.1-1jammy) jammy; urgency=high
.
  * Fixes for uncrustify 0.72 (#572 <ros2/rmw_fastrtps#572>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.0-1jammy) jammy; urgency=high
.
  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Fix QoS depth settings for clients/service being ignored. (#564 <ros2/rmw_fastrtps#564>)
  * Contributors: Chen Lihui, mauropasse
.
ros-rolling-rmw-fastrtps-shared-cpp (6.0.0-1jammy) jammy; urgency=high
.
  * Update rmw_context_impl_t definition. (#558 <ros2/rmw_fastrtps#558>)
  * Update the LoanManager to do internal locking. (#552 <ros2/rmw_fastrtps#552>)
  * Contributors: Chris Lalancette, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.2-1jammy) jammy; urgency=high
.
  * Pass the CRL down to Fast-DDS if available. (#546 <ros2/rmw_fastrtps#546>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.1-1jammy) jammy; urgency=high
.
  * Use the new rmw_dds_common::get_security_files (#544 <ros2/rmw_fastrtps#544>)
  * Support for SubscriptionOptions::ignore_local_publications (#536 <ros2/rmw_fastrtps#536>)
  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette, Jose Antonio Moral
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.0-1jammy) jammy; urgency=high
.
  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
  * Contributors: Barry Xu
.
ros-rolling-rmw-fastrtps-shared-cpp (5.1.0-1jammy) jammy; urgency=high
.
  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Export rmw_dds_common as an rmw_fastrtps_shared_cpp dependency (#530 <ros2/rmw_fastrtps#530>)
  * Update includes after rcutils/get_env.h deprecation (#529 <ros2/rmw_fastrtps#529>)
  * Contributors: Christophe Bedard, Michel Hidalgo, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (5.0.0-1jammy) jammy; urgency=high
.
  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
.
ros-rolling-rmw-fastrtps-shared-cpp (4.5.0-1jammy) jammy; urgency=high
.
  * Take and return new RMW_DURATION_INFINITE correctly (#515 <ros2/rmw_fastrtps#515>)
  * Contributors: Emerson Knapp
.
ros-rolling-rmw-fastrtps-shared-cpp (4.4.0-1jammy) jammy; urgency=high
.
  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Contributors: Jacob Perron, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (4.3.0-1jammy) jammy; urgency=high
.
.
.
ros-rolling-rmw-fastrtps-shared-cpp (4.2.0-1jammy) jammy; urgency=high
.
  * Make sure to lock the mutex protecting client_endpoints_. (#492 <ros2/rmw_fastrtps#492>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (4.1.0-1jammy) jammy; urgency=high
.
  * Use interface whitelist for localhost only (#476 <ros2/rmw_fastrtps#476>)
  * Make use of error return value in decrement_context_impl_ref_count (#488 <ros2/rmw_fastrtps#488>)
  * Remove unnecessary includes (#487 <ros2/rmw_fastrtps#487>)
  * Use new time_utils function to limit rmw_time_t values to 32-bits (#485 <ros2/rmw_fastrtps#485>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Remove unused headers MessageTypeSupport.hpp and ServiceTypeSupport.hpp (#481 <ros2/rmw_fastrtps#481>)
  * Contributors: Jacob Perron, José Luis Bueno López, Michael Jeronimo, Miguel Company, Stephen Brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (4.0.0-1jammy) jammy; urgency=high
.
  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_shared_cpp QD.
    * Provide external dependencies QD links.
    * Update rmw_fastrtps_shared_cpp QD: Fast DDS
    * Update README rmw_fastrtps_shared_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.4-1jammy) jammy; urgency=high
.
  * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>)
  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Handle too large QoS queue depths.  (#457 <ros2/rmw_fastrtps#457>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.3-1jammy) jammy; urgency=high
.
  * checked client implementation and return RMW_RET_INCORRECT_RMW_IMPLEMENTATION (#451 <ros2/rmw_fastrtps#451>)
  * Update service/client request/response API error returns (#450 <ros2/rmw_fastrtps#450>)
  * Contributors: Alejandro Hernández Cordero, Jose Tomas Lorente
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.2-1jammy) jammy; urgency=high
.
  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.1-1jammy) jammy; urgency=high
.
  * Add tests for RMW QoS to DDS attribute conversion. (#449 <ros2/rmw_fastrtps#449>)
  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.0-1jammy) jammy; urgency=high
.
  * Inject faults on __rmw_publish() and run_listener_thread() call. (#441 <ros2/rmw_fastrtps#441>)
  * Update gid API return codes. (#440 <ros2/rmw_fastrtps#440>)
  * Update graph API return codes. (#436 <ros2/rmw_fastrtps#436>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.0.0-1jammy) jammy; urgency=high
.
  * Update rmw_take_serialized() and rmw_take_with_message_info() error returns  (#435 <ros2/rmw_fastrtps#435>)
  * Update rmw_take() error returns (#432 <ros2/rmw_fastrtps#432>)
  * Update rmw_publish() error returns (#430 <ros2/rmw_fastrtps#430>)
  * Update rmw_publish_serialized_message() error returns (#431 <ros2/rmw_fastrtps#431>)
  * Contributors: Jose Tomas Lorente, Lobotuerk
.
ros-rolling-rmw-fastrtps-shared-cpp (2.6.0-1jammy) jammy; urgency=high
.
  * Improve __rmw_create_wait_set() implementation. (#427 <ros2/rmw_fastrtps#427>)
  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Fix memory leak that wait_set might be not destoryed in some case. (#423 <ros2/rmw_fastrtps#423>)
  * Contributors: Chen Lihui, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.5.0-1jammy) jammy; urgency=high
.
  * Avoid unused identifier variable warnings. (#422 <ros2/rmw_fastrtps#422>)
  * Fix trying to get topic data that was already removed. (#417 <ros2/rmw_fastrtps#417>)
  * Contributors: Chen Lihui, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.4.0-1jammy) jammy; urgency=high
.
  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Use package path to TypeSupport.hpp headers in ServiceTypeSupport and MessageTypeSupport (#415 <ros2/rmw_fastrtps#415>)
    Use package in path to TypeSupport header for ServiceTypeSupport/MessageTypeSupport
  * Contributors: Jose Luis Rivero, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.3.0-1jammy) jammy; urgency=high
.
  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.2.0-1jammy) jammy; urgency=high
.
  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
  * Contributors: Ivan Santiago Paunovic
.
ros-rolling-rmw-fastrtps-shared-cpp (2.1.0-1jammy) jammy; urgency=high
.
  * Add missing thread-safety annotation in ServicePubListener (#409 <ros2/rmw_fastrtps#409>)
  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.0.0-1jammy) jammy; urgency=high
.
  * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (1.1.0-1jammy) jammy; urgency=high
.
  * Do not use string literals as implementation identifiers in tests. (#402 <ros2/rmw_fastrtps#402>)
  * Ensure compliant init options API implementations. (#399 <ros2/rmw_fastrtps#399>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Handle RMW_DEFAULT_DOMAIN_ID. (#394 <ros2/rmw_fastrtps#394>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (1.0.1-1jammy) jammy; urgency=high
.
  * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>)
  * Do not compile assert death tests in Release builds (#393 <ros2/rmw_fastrtps#393>)
  * Add test coverage for name mangling and namespacing-specific API (#388 <ros2/rmw_fastrtps#388>)
  * Add test coverage for GUID utilities (#387 <ros2/rmw_fastrtps#387>)
  * Drop unused TopicCache sources (#386 <ros2/rmw_fastrtps#386>)
  * Add test coverage for rmw_init_options API (#385 <ros2/rmw_fastrtps#385>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
  * Contributors: Chris Lalancette, Michel Hidalgo, Stephen Brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (1.0.0-1jammy) jammy; urgency=high
.
  * Remove API related to manual by node liveliness. (#379 <ros2/rmw_fastrtps#379>)
  * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (0.9.1-1jammy) jammy; urgency=high
.
  * Fill service_info timestamps from sample_info (#378 <ros2/rmw_fastrtps#378>)
  * Fix unused variabled warning (#377 <ros2/rmw_fastrtps#377>)
  * Add basic support for security logging plugin (#362 <ros2/rmw_fastrtps#362>)
  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jacob Perron, Kyle Fazzari, brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (0.9.0-1jammy) jammy; urgency=high
.
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * Fill message_info timestamp. (#368 <ros2/rmw_fastrtps#368>)
  * Export targets in a addition to include directories / libraries. (#371 <ros2/rmw_fastrtps#371>)
  * Support for API break on Fast RTPS 2.0. (#370 <ros2/rmw_fastrtps#370>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Correct error message when event is not supported. (#358 <ros2/rmw_fastrtps#358>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Change rmw_topic_endpoint_info_array.count to .size. (#348 <ros2/rmw_fastrtps#348>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Fix unprotected use of mutex-guarded variable. (#345 <ros2/rmw_fastrtps#345>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Dirk Thomas, Emerson Knapp, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-shared-cpp (0.8.1-1jammy) jammy; urgency=high
.
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Added new functions which can be used to get rmw_qos_profile_t from WriterQos and ReaderQos (#328 <ros2/rmw_fastrtps#328>)
  * Renamed dds_qos_to_rmw_qos to dds_attributes_to_rmw_qos (#330 <ros2/rmw_fastrtps#330>)
  * Contributors: Brian Marchi, jaisontj
.
ros-rolling-rmw-fastrtps-shared-cpp (0.8.0-1jammy) jammy; urgency=high
.
  * Correct error message (#320 <ros2/rmw_fastrtps#320>)
  * Return specific error code when node is not found (#311 <ros2/rmw_fastrtps#311>)
  * Correct linter failure (#318 <ros2/rmw_fastrtps#318>)
  * Fix bug in graph API by node (#316 <ros2/rmw_fastrtps#316>)
  * fix method name change from 1.8.1->1.9.0 (#302 <ros2/rmw_fastrtps#302>)
  * Add missing lock guards for discovered_names and discovered_namespaces (#301 <ros2/rmw_fastrtps#301>)
  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Enable manual_by_node and node liveliness assertion (#298 <ros2/rmw_fastrtps#298>)
  * Enable assert liveliness on publisher. (#296 <ros2/rmw_fastrtps#296>)
  * Use rcpputils::find_and_replace instead of std::regex_replace (#291 <ros2/rmw_fastrtps#291>)
  * Fix a comparison with a sign mismatch (#288 <ros2/rmw_fastrtps#288>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * add missing qos setings in get_actual_qos() (#284 <ros2/rmw_fastrtps#284>)
  * Fix ABBA deadlock.
  * Contributors: Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Scott K Logan, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.3-1jammy) jammy; urgency=high
.
  * Protection of discovered_names and discovered_namespaces (#283 <ros2/rmw_fastrtps#283>)
  * Disable all liveliness until it is actually supported (#282 <ros2/rmw_fastrtps#282>)
  * Contributors: Emerson Knapp, MiguelCompany
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.2-1jammy) jammy; urgency=high
.
  * fix log_debug typo in rmw_count (#279 <ros2/rmw_fastrtps#279>)
  * Fastrtps18 event callbacks policies (#275 <ros2/rmw_fastrtps#275>)
  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: 1r0b1n0, Emerson Knapp, Nick Burek
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.1-1jammy) jammy; urgency=high
.
  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Set more correct return values for unimplemented features (#276 <ros2/rmw_fastrtps#276>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Fix logging in rmw_node_info_and_types.cpp (#273 <ros2/rmw_fastrtps#273>)
  * Contributors: Emerson Knapp, Jacob Perron, Michael Carroll, Ross Desmond, Thomas Moulard
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.0-1jammy) jammy; urgency=high
.
  * Thread safety annotation - minimally intrusive first pass (#259 <ros2/rmw_fastrtps#259>)
  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * Fixed race condition between taking sample and updating counter. (#264 <ros2/rmw_fastrtps#264>)
  * Fix cpplint error
  * change count type to size_t to avoid warning (#262 <ros2/rmw_fastrtps#262>)
  * update listener logic for accurate counting (#262 <ros2/rmw_fastrtps#262>)
  * Make sure to include the C++ headers used by these headers. (#256 <ros2/rmw_fastrtps#256>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * make namespace_prefix header public
  * Use empty() to check for an empty string (#247 <ros2/rmw_fastrtps#247>)
  * We can compare a std::string with a const char* using operator==, simplifies the code (#248 <ros2/rmw_fastrtps#248>)
  * Use empty() instead of size() to check if a vector/map contains elements and fixed some incorrect logging (#245 <ros2/rmw_fastrtps#245>)
  * Fix guard condition trigger error (#235 <ros2/rmw_fastrtps#235>)
  * Contributors: Chris Lalancette, Dirk Thomas, DongheeYe, Emerson Knapp, Jacob Perron, Johnny Willemsen, Ricardo González, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.6.1-1jammy) jammy; urgency=high
.
  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fix lint: remove trailing whitespace (#244 <ros2/rmw_fastrtps#244>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Jacob Perron, Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond
.
ros-rolling-rmw-fastrtps-shared-cpp (0.6.0-1jammy) jammy; urgency=high
.
  * use new error handling API from rcutils (#231 <ros2/rmw_fastrtps#231>)
  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * separating identity and permission CAs (#227 <ros2/rmw_fastrtps#227>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * allow builtin reader/writer to reallocate memory if needed (#221 <ros2/rmw_fastrtps#221>)
  * Improve runtime performance of rmw_count_XXX functions (#216 <ros2/rmw_fastrtps#216>) (#217 <ros2/rmw_fastrtps#217>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Leaving common code only on rmw_fastrtps_shared_cpp.
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Package rmw_fastrtps_cpp copied to rmw_fastrtps_shared_cpp.
  * Contributors: Chris Lalancette, Dirk Thomas, Guillaume Autran, Michael Carroll, Miguel Company, Mikael Arguedas, William Woodall
.
ros-rolling-rmw-fastrtps-shared-cpp (0.5.1-1jammy) jammy; urgency=high
.
.
.
ros-rolling-rmw-fastrtps-shared-cpp (0.5.0-1jammy) jammy; urgency=high
.
.
.
ros-rolling-rmw-fastrtps-shared-cpp (0.4.0-1jammy) jammy; urgency=high
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