ros2 bag play does not work with rmw_connextdds

[hidmic]

Description

Basic ros2 bag play usage fails when rmw_connextdds is chosen as RMW_IMPLEMENTATION. This seems to be the case for the simplest tutorial (i.e. Recording and playing back data).

Expected Behavior

Recording and playing back bagfiles while using rmw_connextdds as RMW_IMPLEMENTATION works fine.

Actual Behavior

ros2 bag record seems to work, but then ros2 bag play fails with:

> ros2 bag play subset
[INFO] [1619194035.972364200] [rosbag2_storage]: Opened database 'subset\subset_0.db3' for READ_ONLY.
[D0143|Pub(80000008)|T=rt/turtle1/cmd_vel|CREATE Writer]DDS_DeadlineQosPolicy_is_consistentI:inconsistent QoS policy: period
[D0143|Pub(80000008)|T=rt/turtle1/cmd_vel|CREATE Writer]DDS_DataWriterQos_is_consistentI:inconsistent QoS policy: deadline
[D0143|Pub(80000008)|T=rt/turtle1/cmd_vel|CREATE Writer]DDS_Publisher_create_datawriter_disabledI:ERROR: Inconsistent QoS
[ERROR] [1619194035.979007400] [rmw_connextdds]: failed to create DDS writer
[ERROR] [1619194035.982137900] [rmw_connextdds]: failed to allocate RMW_Connext_Publisher
[ERROR] [1619194035.984866600] [rmw_connextdds]: failed to create RMW publisher
[WARN] [1619194035.987242500] [rosbag2_player]: Ignoring a topic '/turtle1/cmd_vel', reason: could not create publisher: error not set, at C:\opt\ros\rolling_src\src\ros2\rcl\rcl\src\rcl\publisher.c:115.
[D0143|Pub(80000008)|T=rt/turtle1/pose|CREATE Writer]DDS_DeadlineQosPolicy_is_consistentI:inconsistent QoS policy: period
[D0143|Pub(80000008)|T=rt/turtle1/pose|CREATE Writer]DDS_DataWriterQos_is_consistentI:inconsistent QoS policy: deadline
[D0143|Pub(80000008)|T=rt/turtle1/pose|CREATE Writer]DDS_Publisher_create_datawriter_disabledI:ERROR: Inconsistent QoS
[ERROR] [1619194035.997205400] [rmw_connextdds]: failed to create DDS writer
[ERROR] [1619194035.999492900] [rmw_connextdds]: failed to allocate RMW_Connext_Publisher
[ERROR] [1619194036.002531900] [rmw_connextdds]: failed to create RMW publisher
[WARN] [1619194036.004780000] [rosbag2_player]: Ignoring a topic '/turtle1/pose', reason: could not create publisher: error not set, at C:\opt\ros\rolling_src\src\ros2\rcl\rcl\src\rcl\publisher.c:115.

To Reproduce

1. Simply follow the Recording and playing back data tutorial.

System

• OS: Windows 10, Ubuntu Focal 20.04
• ROS 2 Distro: Rolling
• Version: cdbee9b

Additional considerations

This may as well be a problem in ros2/rmw_connextdds.

[emersonknapp]

Edit: This will definitely be because of the RMW_DURATION_INFINITE logic, which I contributed at ros2/rmw_connext#491, but did not get migrated into the new repository https://github.com/ros2/rmw_connextdds/

[emersonknapp]

@asorbini - can I ask you to migrate that change into the new implementation? I don't think I have time to learn the structure of the new package at the moment, there are other Galactic release issues I need to take care of

[asorbini]

@emersonknapp I will take a look and port the changes.

[asorbini]

ros2/rmw_connextdds#43 should resolve the issue

[emersonknapp]

This was resolved by ros2/rmw_connextdds#43