Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • foxy
• DDS implementation:
  • Fast-RTPS, CycloneDDS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Install ros-foxy-composition. Change executable from 'component_container' to 'component_container_mt' in composition/launch/composition_demo.launch.py and launch.

Expected behavior

Talker publishes every second.

Actual behavior

Talker timer interval varies from 1 second to 3 seconds with RMW_IMPLEMENTATION=rmw_fastrtps_cpp. Talker timer almost freezes with RMW_IMPLEMENTATION=rmw_cyclonedds_cpp (interval can exceed 1 minute).

Additional information