Multiple Pointcloud2 can not subscribe with fast dds

[luke22zzang]

Bug report

Required Info:

• Operating System: Ubuntu 22.04
• Installation type: ros2-humble from binaries
• Version or commit hash:
• DDS implementation: Fast-RTPS(ROS2 default)
• Client library (if applicable):

Steps to reproduce issue

I am working with two RealSense D435 cameras to apply PointCloud data to the Spatio-Temporal Voxel Layer (STVL). However, when RViz or rosbag simultaneously subscribes to the PointCloud topics, the callback in STVL is not triggered.

Previously, I found that this issue(ros-navigation/navigation2#3014) was caused by Fast DDS, and switching to Cyclone DDS resolved the problem. Later, it seemed that this issue was fixed(#619) in newer versions of Fast DDS. However, the issue still persists when using Fast DDS.

Could there be another underlying cause for this?
Why does this problem occur specifically with Fast DDS?
I want to understand the root cause. Please help me.

Thank you.

2024-12-26_11.38.43.mp4

[christophebedard]

Please provide steps with the exact commands to run to reproduce the issue.

Also, it would be worth trying this on a newer distro (e.g., Rolling or Jazzy) to see if the issue has been resolved there.