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eclipse-cyclonedds / cyclonedds

Eclipse Cyclone DDS project
https://projects.eclipse.org/projects/iot.cyclonedds
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ROS2 foxy Eclipse Cyclone DDS communication between Docker ubuntu container and Windows host #677

Open anastasiapan opened 3 years ago

anastasiapan commented 3 years ago

Currently I have ROS2 foxy on a linux docker container and what I want to do is to publish and subscribe from the container to Windows side and the other way around as well. The Ros middleware interface I am using right now is Eclipse Cyclone DDS. Right now I am testing with ros2 examples (minimal publisher and minimal subscriber (https://index.ros.org/r/examples/) . I have tried to do this between two separate containers and it just works out of the box but it doesnt work between ubuntu container and Windows host.

Expected behavior:

Being able to publish and subscribe to messages from the Docker ubuntu container to Windows host and the other way around.

Actual behavior:

The messages don't go through

Steps to Reproduce

  1. Install ROS2 on Windows (https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Development-Setup/).
  2. Build and run ros2 docker image (foxy-ros-base from https://hub.docker.com/_/Ros)
  3. Try to publish and subscribe from container to Windows host like this: On the Docker container: ros2 run demo_nodes_py talker On Windows host: ros2 run demo_nodes_py listener

System

Things I tried:

I tried to make sure that ROS2 uses CycloneDDS but I am very new to DDS and didn't make any more changes. I changed ROS2 to use Cyclone DDS specifically as below in Ubuntu Container: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp and on my Windows machine: set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

eboasson commented 3 years ago

Hi @anastasiapan I came here to respond to a question, or actually to ask for some clarification and give some suggestions that might help you. But it now it seems you have got everything to work just fine.

But perhaps I got that wrong. So you could please let me know what you are looking for?

anastasiapan commented 3 years ago

I have updated my issue I apologise for not being very thorough in the beginning.

eboasson commented 3 years ago

@anastasiapan ah, it makes more sense to me now. I usually avoid docker and have certainly never tried an Ubuntu container on windows ... 🤔

I have heard rumours that multicast doesn't play nicely with containers, so it might be that the two simply can't discover each other. If that's the case, you would have to change the Cyclone configuration a bit. A configuration like:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
  <Domain id="any">
    <General>
      <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
        <Peer address="host.docker.internal"/>
      </Peers>
    </Discovery>
  </Domain>
</CycloneDDS>

should then help. (Write it to a file and set the CYCLONEDDS_URI environment variable to point to it. See also https://github.com/eclipse-cyclonedds/cyclonedds/#configuration or https://stackoverflow.com/questions/64352350/can-dds-protocol-be-used-to-communicate-between-devices-connected-to-different-n)

If it doesn't work, I'd guess there it picks the wrong network interface (Cyclone today still uses a single network interface, and so you have to set it if it doesn't pick the right one), or I interpreted the meaning of "host.docker.internal" incorrectly, or ... something else. If you add <Tracing><Verbosity>finest</Verbosity></Tracing> to the Domain configuration, it'll give a ton of details. Not easy to read, I'm afraid, but the beginning should be straightforward (actual settings used, network configuration, a few more of those things). I'd happy to have a look at the output if necessary.

Meanwhile perhaps a contributor to Cyclone could give your setup a try, because it'd be good for us to know more about how docker behaves (@dennis-adlink perhaps you can find some time?)

anastasiapan commented 3 years ago

@eboasson Thank you so much for your detailed response. Ok so I tried the xml configuration but it didn't help. I also added the tracing part and I got a log file. I can see some things - I can see the ports used and the time when I started to publish messages but I also have attached it here so you can see. cyclonedds.log

Another thing I checked is the packets sent from WSL with WireShark and nothing goes through.

About my setup that you asked I have a docker container in WSL. I can show you the dockerfile if you want it is just the base ros foxy image with their CycloneDDS package (https://github.com/ros2/rmw_cyclonedds/tree/foxy). On the windows side I have basically the same things and I am trying to communicate between the container and Windows. Now I do not know if that helps but I have tried to do the same thing between two Ubuntu containers and between Ubuntu container and Ubuntu host and it just works. So I believe that maybe it has something to do with Windows host?

dpotman commented 3 years ago

@anastasiapan In the Docker for Windows documentation I read that communication from host to container needs port forwarding (https://docs.docker.com/docker-for-windows/networking/#known-limitations-use-cases-and-workarounds), so I've tried a setup similar to yours with the ports required for unicast DDS communication forwarded in Docker. With the Cyclone DDS configuration properly setup (see below), the ROS2 demo is working. Nevertheless I think this setup is not ideal, as it's not using multicast and there is quite some administration of IP addresses and port numbers involved. But given the fact that the docker bridge network is not reachable from the Windows host in this setup, I couldn't find another way to get it working.

To get predictable port numbers that can be forwarded, the ParticipantIndex setting in the Cyclone DDS configuration can be set to 'auto'. And because Docker publishes the forwarded ports to the host, the port numbers of the DDS instance on the host and on the container cannot be the same. This can be achieved by either using a specific value for ParticipantIndex instead of 'auto' (e.g. 0 on the host and 1 in the container), or by using a non-default base port number.

The Dockerfile I used for the base port approach (fill in the host IP address for HOST_ADDR env var):

FROM ros:foxy
RUN apt-get update && apt-get install -y \
      ros-foxy-rmw-cyclonedds-cpp \
      ros-foxy-demo-nodes-cpp \
      ros-foxy-demo-nodes-py && \
    rm -rf /var/lib/apt/lists/*

ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV HOST_ADDR="..."

ENV CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><ExternalNetworkAddress>${HOST_ADDR}</ExternalNetworkAddress><AllowMulticast>false</AllowMulticast></General><Discovery><ParticipantIndex>auto</ParticipantIndex><Ports><Base>7500</Base></Ports><Peers><Peer address='${HOST_ADDR}:7410'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

CMD ["ros2", "run", "demo_nodes_py", "talker"]

And run the container using:

docker run -it -p <host ip address>:7510:7510/udp -p <host ip address>:7511:7511/udp --rm my/ros:app

For the host process, this is the Cyclone configuration I used (the HOST_ADDR environment variable needs to be set or filled in in the xml):

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
  <Domain id="any">
    <General>
      <NetworkInterfaceAddress>${HOST_ADDR}</NetworkInterfaceAddress>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Ports><Base>7400</Base></Ports>
      <Peers><Peer address="host.docker.internal:7510"/></Peers>
    </Discovery>
    <Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing>
  </Domain>
</CycloneDDS>

The Dockerfile and configuration for the other approach, using a specific ParticipantIndex:

FROM ros:foxy

RUN apt-get update && apt-get install -y \
      ros-foxy-rmw-cyclonedds-cpp \
      ros-foxy-demo-nodes-cpp \
      ros-foxy-demo-nodes-py && \
    rm -rf /var/lib/apt/lists/*

ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV HOST_ADDR="..."

ENV CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><ExternalNetworkAddress>${HOST_ADDR}</ExternalNetworkAddress><AllowMulticast>false</AllowMulticast></General><Discovery><ParticipantIndex>1</ParticipantIndex><Peers><Peer address='${HOST_ADDR}'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

CMD ["ros2", "run", "demo_nodes_py", "talker"]

Start the container with:

docker run -it -p <host ip address>:7412:7412/udp -p <host ip address>:7413:7413/udp --rm my/ros:app

The Cyclone DDS configuration for the host process:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
  <Domain id="any">
    <General>
      <NetworkInterfaceAddress>${HOST_ADDR}</NetworkInterfaceAddress>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>0</ParticipantIndex>
      <Peers><Peer address='${HOST_ADDR}:7412'/></Peers>
    </Discovery>
    <Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing>
  </Domain>
</CycloneDDS>

PS: in WireShark I also don't see any traffic on the WSL vEthernet adapter, only on the lookback traffic capture adapter

anastasiapan commented 3 years ago

Ok so I tried both of your configurations but it didn't work. Something that I am not sure about though is what should my host address be? What I mean is should I run it from cmd, powershell, wsl or what? I have tried wsl with both configurations and cmd with the second one for now.

dpotman commented 3 years ago

I started both the ROS2 application (on the host) and the docker container from a cmd prompt (but PowerShell would of course also work). For the host address, I used the IP address of the Wi-Fi network adapter of my pc.

Note that this IP address needs to be filled in:

anastasiapan commented 3 years ago

Ok so it still doesn't work. I will provide with as much information as I can.

ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp" ENV HOST_ADDR="10.1.1.74"

ENV CYCLONEDDS_URI="${HOST_ADDR}falseauto7500configstderr"


I am building the image from vs code where I edit the Dockerfile and then run it like this:
`docker run -it -p 10.1.1.74:7510:7510/udp -p 10.1.1.74:7511:7511/udp --rm my_ros_container`

I do not have the CMD in the dockerfile but I just source it and run it inside the container like this:
`source /opt/ros/foxy/setup.bash`
`ros2 run demo_nodes_py talker`
and messages are published

On my C: drive I have the xml file named CYCLONE_DDS.xml which looks like that:
```xml
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
  <Domain id="any">
    <General>
      <NetworkInterfaceAddress>10.1.1.74</NetworkInterfaceAddress>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Ports><Base>7400</Base></Ports>
      <Peers><Peer address="host.docker.internal:7510"/></Peers>
    </Discovery>
    <Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing>
  </Domain>
</CycloneDDS>

On Windows cmd I set it like this: set "CYCLONEDDS_URI=C:\CYCLONE_DDS.xml"

Then I source ros and start the listener and I get nothing - neither with listener or with ros2 topic list. What I find strange though is that I can see data being sent to port 7511 from the container with Wireshark:

Wireshark_jSUijo8Ns7

Dockerfile:

FROM ros:foxy

RUN apt-get update && apt-get install -y \
      ros-foxy-rmw-cyclonedds-cpp \
      ros-foxy-demo-nodes-cpp \
      ros-foxy-demo-nodes-py && \
    rm -rf /var/lib/apt/lists/*

ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV HOST_ADDR="10.1.1.74"

ENV CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><ExternalNetworkAddress>${HOST_ADDR}</ExternalNetworkAddress><AllowMulticast>false</AllowMulticast></General><Discovery><ParticipantIndex>1</ParticipantIndex><Peers><Peer address='${HOST_ADDR}'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

I am building the image from vs code where I edit the Dockerfile and then run it like this: docker run -it -p 10.1.1.74:7412:7412/udp -p 10.1.1.74:7413:7413/udp --rm my_ros_container

Once again CYCLONE_DDS.xml:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
  <Domain id="any">
    <General>
      <NetworkInterfaceAddress>10.1.1.74</NetworkInterfaceAddress>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>0</ParticipantIndex>
      <Peers><Peer address='10.1.1.74:7412'/></Peers>
    </Discovery>
    <Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing>
  </Domain>
</CycloneDDS>

When I try to use these ports weirdly they are still sent to port 7511. Wireshark:

Wireshark_vply7NVEc8

Finally I have checked my firewall in case it is set to public network and it is not, it is set to private.

dpotman commented 3 years ago

I've created a gist with the Dockerfile and bat file for host environment variables I've used in my setup: https://gist.github.com/dpotman/26aac53734d1b98fa62687cbf7adfc28 (this includes only the participant index approach)

Maybe you can try to build and start the docker image from this Dockerfile from a cmd prompt:

docker build -t my/ros:app .
docker run -it -p 1.2.3.4:7412:7412/udp -p 1.2.3.4:7413:7413/udp --rm my/ros:app

And on the host (after setting up ROS environment, local_setup.bat) run host_env.bat from the gist (with the host IP replaced!) and then run the ros2 listener application.

To check if the port are set up correctly you could use netstat -an on the host when container and host application are running. This should include something like this:

...
UDP    0.0.0.0:7410    *:*
UDP    0.0.0.0:7411    *:*
...
UDP    1.2.3.4:7412    *:*
UDP    1.2.3.4:7413    *:*
...

You could also try to ping the host IP from the docker container to see if it can be reached, and also try to ping host.docker.internal to see if that name resolves correctly.

Something else you could check is the Cyclone logging just before it starts sending/listening, this is the output I get for the host:

...
1611829218.860748 [0]      17236: selected interface: Network Bridge (index 10)
1611829218.861207 [0]      17236: ownip: udp/1.2.3.4
1611829218.861682 [0]      17236: extip: udp/1.2.3.4
1611829218.862139 [0]      17236: extmask: invalid/0
1611829218.862566 [0]      17236: SPDP MC: udp/239.255.0.1
1611829218.863067 [0]      17236: default MC: udp/239.255.0.1
1611829218.863592 [0]      17236: SSM support included
1611829218.864725 [0]      17236: socket receive buffer size set to 1048576 bytes
1611829218.864927 [0]      17236: socket receive buffer size set to 1048576 bytes
1611829218.865309 [0]      17236: rtps_init: uc ports: disc 7410 data 7411
1611829218.865697 [0]      17236: rtps_init: domainid 0 participantid 0
1611829218.866098 [0]      17236: Unicast Ports: discovery 7410 data 7411
1611829218.866521 [0]      17236: socket receive buffer size set to 1048576 bytes
1611829218.866990 [0]      17236: add_peer_addresses: add udp/1.2.3.4:7412
...

And in the container:

...
1611830291.000413 [0]     talker: interfaces: lo udp/127.0.0.1(q1) eth0 udp/172.17.0.2(q9)
1611830291.000442 [0]     talker: selected interface: eth0 (index 9)
1611830291.000461 [0]     talker: ownip: udp/172.17.0.2
1611830291.000466 [0]     talker: extip: udp/1.2.3.4
1611830291.000470 [0]     talker: extmask: invalid/0
1611830291.000474 [0]     talker: SPDP MC: udp/239.255.0.1
1611830291.000478 [0]     talker: default MC: udp/239.255.0.1
1611830291.000482 [0]     talker: SSM support included
1611830291.000550 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1611830291.000594 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1611830291.000608 [0]     talker: rtps_init: uc ports: disc 7412 data 7413
1611830291.000612 [0]     talker: rtps_init: domainid 0 participantid 1
1611830291.000618 [0]     talker: Unicast Ports: discovery 7412 data 7413
1611830291.000651 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1611830291.000701 [0]     talker: add_peer_addresses: add udp/1.2.3.4:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426
...
anastasiapan commented 3 years ago

@dennis-adlink Ok so it actually worked! Thank you so much I was struggling with this for almost two weeks now. I will link this to ROS answers too.

lanouettea commented 3 years ago

I'm sorry to revive this issue, but I seem to be encountering a very similar issue that I cannot resolve, even when I follow the gist provided by @dennis-adlink. If I should open a new issue instead, let me know and I'll do.

My setup is somewhat similar, but with the difference that the RoS node that is on the host is running in a Ubuntu 20.04 installation on WSL2. So my basically:

I've setup a repository with minimum reproductible exemples of my different attempts to get this to work: https://github.com/lanouettea/ros-test

I can successfully make 2 nodes communicates if they are executed on the same Docker network. However, my host and container nodes will never ever communicate.

In the linked repository, my Cyclone test follows the gist previously shared by @dennis-adlink, but still, nodes will not communicate. I'm not sure I'm using the correct HOST_IP value though. Should this be:

I can ping all of those IPs from the container and tried most of them, without success.

Any guidance would be greatly appreciated. I tried to make my exemples as easy to use and as simple as possible so you can reproduce on your end.

eboasson commented 3 years ago

@lanouettea, no worries about reviving it. From your description it really appears like it is the same problem except for (what should be) some minor differences between operating system versions. Let's reopen it and see what we can find out.

I don't know anyone that has a Windows 11 box at hand, though, but with a bit of luck it will also reproduce on Windows 10. With a further bit of luck @dennis-adlink can find some time soon because he at least used to have a set-up that allowed him to try this out, whereas I don't have one nearby. Before we do anything else, let's see what he says about his availability.

dpotman commented 3 years ago

@lanouettea thanks for the detailed reproducer. I've created the same set-up on my Windows 10 machine and I'm able to reproduce the issue. I'll look into this this week and I'll let you know when I found out more.

dpotman commented 3 years ago

By adding the HOST_IP variable in the external network address configuration setting in the container (<ExternalNetworkAddress>${HOST_IP}</ExternalNetworkAddress> in the docker file docker-compose.container-host-cyclone.yml), the container-host communication works in my setup.

For the HOST_IP variable, I'm using the eth0 address from the host (Ubuntu WSL, IP address 172.27.0.42 in my setup). This makes Cyclone in the container advertising that IP address as its external address. The Docker port configuration for this container maps this to the internal address in the container (e.g. 172.23.0.2), when the host sends data to the client.

Is there a specific reason that the host IP was removed from this setting in the Cyclone configuration from the gist? If not, maybe you could give this a try and see if it also works in your setup?

lanouettea commented 2 years ago

@dennis-adlink Thank you so much to take the time to look into this!

You are right that I messed up in assigning the value of CYCLONEDDS_URI in docker-compose.container-host-cyclone.yml. I probably deleted the ${HOST_IP} by accident. I just pushed a fix for this to the repository I previously shared.

However, adding this and setting the HOST_IP value in test-container-host_cyclone.sh to the address of eth0 from my host (Ubuntu WSL), I still cannot receive messages from the host.

See the output from the ifconfig command as executed from my Ubuntu host (which run the listener app).

ifconfig ``` ╰─ ifconfig eth0: flags=4163 mtu 1500 inet 172.19.131.117 netmask 255.255.240.0 broadcast 172.19.143.255 inet6 fe80::215:5dff:fea2:fd99 prefixlen 64 scopeid 0x20 ether 00:15:5d:a2:fd:99 txqueuelen 1000 (Ethernet) RX packets 1055076 bytes 994436124 (994.4 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 702700 bytes 1572561160 (1.5 GB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 lo: flags=73 mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10 loop txqueuelen 1000 (Local Loopback) RX packets 41339 bytes 28811400 (28.8 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 41339 bytes 28811400 (28.8 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 ```

From the Ubuntu WSL host, here are the values of RWM_IMPLEMENTATION and CYCLONEDDS_URI:

Ubuntu WSL ``` ╰─ echo $RMW_IMPLEMENTATION rmw_cyclonedds_cpp ╰─ echo $CYCLONEDDS_URI 172.19.131.117false0configstderr ```

From inside the docker talker container, here are the values of RWM_IMPLEMENTATION and CYCLONEDDS_URI:

docker talker container ``` root@38eff5a7c101:/# echo $RMW_IMPLEMENTATION rmw_cyclonedds_cpp root@38eff5a7c101:/# echo $CYCLONEDDS_URI 172.19.131.117false1configstderr ```

When launching the test-container-host_cyclone.sh script, this is the output I obtain:

test-container-host_cyclone.sh ``` ╰─ ./test-container-host_cyclone.sh 1634567309.581474 [0] listener: config: Domain/General/NetworkInterfaceAddress/#text: 172.19.131.117 {0} 1634567309.581523 [0] listener: config: Domain/General/MulticastRecvNetworkInterfaceAddresses/#text: preferred {} 1634567309.581527 [0] listener: config: Domain/General/ExternalNetworkAddress/#text: auto {} 1634567309.581528 [0] listener: config: Domain/General/ExternalNetworkMask/#text: 0.0.0.0 {} 1634567309.581530 [0] listener: config: Domain/General/AllowMulticast/#text: false {0} 1634567309.581532 [0] listener: config: Domain/General/PreferMulticast/#text: false {} 1634567309.581549 [0] listener: config: Domain/General/MulticastTimeToLive/#text: 32 {} 1634567309.581553 [0] listener: config: Domain/General/DontRoute/#text: false {} 1634567309.581568 [0] listener: config: Domain/General/Transport/#text: udp {} 1634567309.581583 [0] listener: config: Domain/General/EnableMulticastLoopback/#text: true {} 1634567309.581598 [0] listener: config: Domain/General/MaxMessageSize/#text: 14720 B {} 1634567309.581613 [0] listener: config: Domain/General/MaxRexmitMessageSize/#text: 1456 B {} 1634567309.581617 [0] listener: config: Domain/General/FragmentSize/#text: 1344 B {} 1634567309.581620 [0] listener: config: Domain/Sizing/ReceiveBufferSize/#text: 1 MiB {} 1634567309.581635 [0] listener: config: Domain/Sizing/ReceiveBufferChunkSize/#text: 128 KiB {} 1634567309.581639 [0] listener: config: Domain/Compatibility/StandardsConformance/#text: lax {} 1634567309.581641 [0] listener: config: Domain/Compatibility/ExplicitlyPublishQosSetToDefault/#text: false {} 1634567309.581644 [0] listener: config: Domain/Compatibility/ManySocketsMode/#text: single {} 1634567309.581646 [0] listener: config: Domain/Compatibility/AssumeRtiHasPmdEndpoints/#text: false {} 1634567309.581648 [0] listener: config: Domain/Discovery/Tag/#text: {} 1634567309.581650 [0] listener: config: Domain/Discovery/ExternalDomainId/#text: 0 {} 1634567309.581652 [0] listener: config: Domain/Discovery/DSGracePeriod/#text: 30 s {} 1634567309.581656 [0] listener: config: Domain/Discovery/Peers/Peer[@Address]: 172.19.131.117 {0} 1634567309.581658 [0] listener: config: Domain/Discovery/ParticipantIndex/#text: 0 {0} 1634567309.581659 [0] listener: config: Domain/Discovery/MaxAutoParticipantIndex/#text: 9 {} 1634567309.581661 [0] listener: config: Domain/Discovery/SPDPMulticastAddress/#text: 239.255.0.1 {} 1634567309.581663 [0] listener: config: Domain/Discovery/SPDPInterval/#text: 30 s {} 1634567309.581665 [0] listener: config: Domain/Discovery/DefaultMulticastAddress/#text: auto {} 1634567309.581667 [0] listener: config: Domain/Discovery/Ports/Base/#text: 7400 {} 1634567309.581682 [0] listener: config: Domain/Discovery/Ports/DomainGain/#text: 250 {} 1634567309.581696 [0] listener: config: Domain/Discovery/Ports/ParticipantGain/#text: 2 {} 1634567309.581699 [0] listener: config: Domain/Discovery/Ports/MulticastMetaOffset/#text: 0 {} 1634567309.581714 [0] listener: config: Domain/Discovery/Ports/UnicastMetaOffset/#text: 10 {} 1634567309.581716 [0] listener: config: Domain/Discovery/Ports/MulticastDataOffset/#text: 1 {} 1634567309.581718 [0] listener: config: Domain/Discovery/Ports/UnicastDataOffset/#text: 11 {} 1634567309.581725 [0] listener: config: Domain/Tracing/Category/#text: fatal,error,warning,info,config {0} 1634567309.581741 [0] listener: config: Domain/Tracing/OutputFile/#text: stderr {0} 1634567309.581743 [0] listener: config: Domain/Tracing/AppendToFile/#text: false {} 1634567309.581745 [0] listener: config: Domain/Tracing/PacketCaptureFile/#text: {} 1634567309.581747 [0] listener: config: Domain/Internal/DeliveryQueueMaxSamples/#text: 256 {} 1634567309.581748 [0] listener: config: Domain/Internal/PrimaryReorderMaxSamples/#text: 128 {} 1634567309.581750 [0] listener: config: Domain/Internal/SecondaryReorderMaxSamples/#text: 128 {} 1634567309.581751 [0] listener: config: Domain/Internal/DefragUnreliableMaxSamples/#text: 4 {} 1634567309.581753 [0] listener: config: Domain/Internal/DefragReliableMaxSamples/#text: 16 {} 1634567309.581754 [0] listener: config: Domain/Internal/BuiltinEndpointSet/#text: writers {} 1634567309.581756 [0] listener: config: Domain/Internal/MeasureHbToAckLatency/#text: false {} 1634567309.581758 [0] listener: config: Domain/Internal/UnicastResponseToSPDPMessages/#text: true {} 1634567309.581759 [0] listener: config: Domain/Internal/SynchronousDeliveryPriorityThreshold/#text: 0 {} 1634567309.581761 [0] listener: config: Domain/Internal/SynchronousDeliveryLatencyBound/#text: inf {} 1634567309.581762 [0] listener: config: Domain/Internal/MaxParticipants/#text: 0 {} 1634567309.581764 [0] listener: config: Domain/Internal/AccelerateRexmitBlockSize/#text: 0 {} 1634567309.581765 [0] listener: config: Domain/Internal/RetransmitMerging/#text: never {} 1634567309.581767 [0] listener: config: Domain/Internal/RetransmitMergingPeriod/#text: 5 ms {} 1634567309.581769 [0] listener: config: Domain/Internal/HeartbeatInterval/#text: 100 ms {} 1634567309.581770 [0] listener: config: Domain/Internal/HeartbeatInterval[@min]: 5 ms {} 1634567309.581772 [0] listener: config: Domain/Internal/HeartbeatInterval[@minsched]: 20 ms {} 1634567309.581774 [0] listener: config: Domain/Internal/HeartbeatInterval[@max]: 8 s {} 1634567309.581775 [0] listener: config: Domain/Internal/MaxQueuedRexmitBytes/#text: 512 KiB {} 1634567309.581777 [0] listener: config: Domain/Internal/MaxQueuedRexmitMessages/#text: 200 {} 1634567309.581778 [0] listener: config: Domain/Internal/LeaseDuration/#text: 10 s {} 1634567309.581780 [0] listener: config: Domain/Internal/WriterLingerDuration/#text: 1 s {} 1634567309.581781 [0] listener: config: Domain/Internal/MinimumSocketReceiveBufferSize/#text: default {} 1634567309.581783 [0] listener: config: Domain/Internal/MinimumSocketSendBufferSize/#text: 64 KiB {} 1634567309.581785 [0] listener: config: Domain/Internal/NackDelay/#text: 100 ms {} 1634567309.581786 [0] listener: config: Domain/Internal/AckDelay/#text: 10 ms {} 1634567309.581788 [0] listener: config: Domain/Internal/AutoReschedNackDelay/#text: 1 s {} 1634567309.581803 [0] listener: config: Domain/Internal/PreEmptiveAckDelay/#text: 10 ms {} 1634567309.581805 [0] listener: config: Domain/Internal/ScheduleTimeRounding/#text: 0 s {} 1634567309.581807 [0] listener: config: Domain/Internal/DDSI2DirectMaxThreads/#text: 1 {} 1634567309.581816 [0] listener: config: Domain/Internal/SquashParticipants/#text: false {} 1634567309.581820 [0] listener: config: Domain/Internal/SPDPResponseMaxDelay/#text: 0 s {} 1634567309.581835 [0] listener: config: Domain/Internal/LateAckMode/#text: false {} 1634567309.581849 [0] listener: config: Domain/Internal/RetryOnRejectBestEffort/#text: false {} 1634567309.581852 [0] listener: config: Domain/Internal/GenerateKeyhash/#text: false {} 1634567309.581854 [0] listener: config: Domain/Internal/MaxSampleSize/#text: 2147483647 B {} 1634567309.581856 [0] listener: config: Domain/Internal/WriteBatch/#text: false {} 1634567309.581870 [0] listener: config: Domain/Internal/LivelinessMonitoring/#text: false {} 1634567309.581873 [0] listener: config: Domain/Internal/LivelinessMonitoring[@StackTraces]: true {} 1634567309.581888 [0] listener: config: Domain/Internal/LivelinessMonitoring[@Interval]: 1 s {} 1634567309.581890 [0] listener: config: Domain/Internal/MonitorPort/#text: -1 {} 1634567309.581892 [0] listener: config: Domain/Internal/AssumeMulticastCapable/#text: {} 1634567309.581894 [0] listener: config: Domain/Internal/PrioritizeRetransmit/#text: true {} 1634567309.581895 [0] listener: config: Domain/Internal/UseMulticastIfMreqn/#text: 0 {} 1634567309.581897 [0] listener: config: Domain/Internal/SendAsync/#text: false {} 1634567309.581898 [0] listener: config: Domain/Internal/RediscoveryBlacklistDuration/#text: 0 s {} 1634567309.581900 [0] listener: config: Domain/Internal/RediscoveryBlacklistDuration[@enforce]: false {} 1634567309.581902 [0] listener: config: Domain/Internal/MultipleReceiveThreads/#text: default {} 1634567309.581941 [0] listener: config: Domain/Internal/MultipleReceiveThreads[@maxretries]: 4294967295 {} 1634567309.581948 [0] listener: config: Domain/Internal/Test/XmitLossiness/#text: 0 {} 1634567309.581969 [0] listener: config: Domain/Internal/Watermarks/WhcLow/#text: 1 KiB {} 1634567309.582011 [0] listener: config: Domain/Internal/Watermarks/WhcHigh/#text: 500 KiB {} 1634567309.582016 [0] listener: config: Domain/Internal/Watermarks/WhcHighInit/#text: 30 KiB {} 1634567309.582018 [0] listener: config: Domain/Internal/Watermarks/WhcAdaptive/#text: true {} 1634567309.582021 [0] listener: config: Domain/Internal/BurstSize/MaxRexmit/#text: 1 MiB {} 1634567309.582026 [0] listener: config: Domain/Internal/BurstSize/MaxInitTransmit/#text: 4294967295 {} 1634567309.582029 [0] listener: config: Domain/Internal/EnableExpensiveChecks/#text: {} 1634567309.582047 [0] listener: config: Domain/TCP/NoDelay/#text: true {} 1634567309.582077 [0] listener: config: Domain/TCP/Port/#text: -1 {} 1634567309.582101 [0] listener: config: Domain/TCP/ReadTimeout/#text: 2 s {} 1634567309.582103 [0] listener: config: Domain/TCP/WriteTimeout/#text: 2 s {} 1634567309.582105 [0] listener: config: Domain/TCP/AlwaysUsePeeraddrForUnicast/#text: false {} 1634567309.582107 [0] listener: config: Domain/ThreadPool/Enable/#text: false {} 1634567309.582130 [0] listener: config: Domain/ThreadPool/Threads/#text: 4 {} 1634567309.582132 [0] listener: config: Domain/ThreadPool/ThreadMax/#text: 8 {} 1634567309.582133 [0] listener: config: Domain[@Id]: 0 {0} 1634567309.582172 [0] listener: started at 1634567309.06582139 -- 2021-10-18 10:28:29-04:00 1634567309.582175 [0] listener: udp initialized 1634567309.582357 [0] listener: interfaces: lo udp/127.0.0.1(q1) eth0 udp/172.19.131.117(q9) 1634567309.582427 [0] listener: selected interface: eth0 (index 6) 1634567309.582496 [0] listener: ownip: udp/172.19.131.117 1634567309.582517 [0] listener: extip: udp/172.19.131.117 1634567309.582521 [0] listener: extmask: invalid/0 1634567309.582523 [0] listener: SPDP MC: udp/239.255.0.1 1634567309.582525 [0] listener: default MC: udp/239.255.0.1 1634567309.582526 [0] listener: SSM support included 1634567309.582644 [0] listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes 1634567309.582679 [0] listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes 1634567309.582685 [0] listener: rtps_init: uc ports: disc 7410 data 7411 1634567309.582687 [0] listener: rtps_init: domainid 0 participantid 0 1634567309.582706 [0] listener: Unicast Ports: discovery 7410 data 7411 1634567309.582709 [0] listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes 1634567309.582757 [0] listener: add_peer_addresses: add udp/172.19.131.117:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426 Starting ros-test_ros-foxy-talker_1 ... done Attaching to ros-test_ros-foxy-talker_1 ros-foxy-talker_1 | 1634567311.601194 [0] talker: config: Domain/General/NetworkInterfaceAddress/#text: auto {} ros-foxy-talker_1 | 1634567311.601256 [0] talker: config: Domain/General/MulticastRecvNetworkInterfaceAddresses/#text: preferred {} ros-foxy-talker_1 | 1634567311.601259 [0] talker: config: Domain/General/ExternalNetworkAddress/#text: 172.19.131.117 {0} ros-foxy-talker_1 | 1634567311.601261 [0] talker: config: Domain/General/ExternalNetworkMask/#text: 0.0.0.0 {} ros-foxy-talker_1 | 1634567311.601262 [0] talker: config: Domain/General/AllowMulticast/#text: false {0} ros-foxy-talker_1 | 1634567311.601263 [0] talker: config: Domain/General/PreferMulticast/#text: false {} ros-foxy-talker_1 | 1634567311.601264 [0] talker: config: Domain/General/MulticastTimeToLive/#text: 32 {} ros-foxy-talker_1 | 1634567311.601266 [0] talker: config: Domain/General/DontRoute/#text: false {} ros-foxy-talker_1 | 1634567311.601267 [0] talker: config: Domain/General/Transport/#text: udp {} ros-foxy-talker_1 | 1634567311.601268 [0] talker: config: Domain/General/EnableMulticastLoopback/#text: true {} ros-foxy-talker_1 | 1634567311.601269 [0] talker: config: Domain/General/MaxMessageSize/#text: 14720 B {} ros-foxy-talker_1 | 1634567311.601271 [0] talker: config: Domain/General/MaxRexmitMessageSize/#text: 1456 B {} ros-foxy-talker_1 | 1634567311.601272 [0] talker: config: Domain/General/FragmentSize/#text: 1344 B {} ros-foxy-talker_1 | 1634567311.601275 [0] talker: config: Domain/Sizing/ReceiveBufferSize/#text: 1 MiB {} ros-foxy-talker_1 | 1634567311.601276 [0] talker: config: Domain/Sizing/ReceiveBufferChunkSize/#text: 128 KiB {} ros-foxy-talker_1 | 1634567311.601277 [0] talker: config: Domain/Compatibility/StandardsConformance/#text: lax {} ros-foxy-talker_1 | 1634567311.601279 [0] talker: config: Domain/Compatibility/ExplicitlyPublishQosSetToDefault/#text: false {} ros-foxy-talker_1 | 1634567311.601280 [0] talker: config: Domain/Compatibility/ManySocketsMode/#text: single {} ros-foxy-talker_1 | 1634567311.601281 [0] talker: config: Domain/Compatibility/AssumeRtiHasPmdEndpoints/#text: false {} ros-foxy-talker_1 | 1634567311.601282 [0] talker: config: Domain/Discovery/Tag/#text: {} ros-foxy-talker_1 | 1634567311.601283 [0] talker: config: Domain/Discovery/ExternalDomainId/#text: 0 {} ros-foxy-talker_1 | 1634567311.601285 [0] talker: config: Domain/Discovery/DSGracePeriod/#text: 30 s {} ros-foxy-talker_1 | 1634567311.601286 [0] talker: config: Domain/Discovery/Peers/Peer[@Address]: 172.19.131.117 {0} ros-foxy-talker_1 | 1634567311.601288 [0] talker: config: Domain/Discovery/ParticipantIndex/#text: 1 {0} ros-foxy-talker_1 | 1634567311.601289 [0] talker: config: Domain/Discovery/MaxAutoParticipantIndex/#text: 9 {} ros-foxy-talker_1 | 1634567311.601290 [0] talker: config: Domain/Discovery/SPDPMulticastAddress/#text: 239.255.0.1 {} ros-foxy-talker_1 | 1634567311.601291 [0] talker: config: Domain/Discovery/SPDPInterval/#text: 30 s {} ros-foxy-talker_1 | 1634567311.601293 [0] talker: config: Domain/Discovery/DefaultMulticastAddress/#text: auto {} ros-foxy-talker_1 | 1634567311.601294 [0] talker: config: Domain/Discovery/Ports/Base/#text: 7400 {} ros-foxy-talker_1 | 1634567311.601295 [0] talker: config: Domain/Discovery/Ports/DomainGain/#text: 250 {} ros-foxy-talker_1 | 1634567311.601297 [0] talker: config: Domain/Discovery/Ports/ParticipantGain/#text: 2 {} ros-foxy-talker_1 | 1634567311.601298 [0] talker: config: Domain/Discovery/Ports/MulticastMetaOffset/#text: 0 {} ros-foxy-talker_1 | 1634567311.601299 [0] talker: config: Domain/Discovery/Ports/UnicastMetaOffset/#text: 10 {} ros-foxy-talker_1 | 1634567311.601300 [0] talker: config: Domain/Discovery/Ports/MulticastDataOffset/#text: 1 {} ros-foxy-talker_1 | 1634567311.601302 [0] talker: config: Domain/Discovery/Ports/UnicastDataOffset/#text: 11 {} ros-foxy-talker_1 | 1634567311.601308 [0] talker: config: Domain/Tracing/Category/#text: fatal,error,warning,info,config {0} ros-foxy-talker_1 | 1634567311.601309 [0] talker: config: Domain/Tracing/OutputFile/#text: stderr {0} ros-foxy-talker_1 | 1634567311.601310 [0] talker: config: Domain/Tracing/AppendToFile/#text: false {} ros-foxy-talker_1 | 1634567311.601311 [0] talker: config: Domain/Tracing/PacketCaptureFile/#text: {} ros-foxy-talker_1 | 1634567311.601313 [0] talker: config: Domain/Internal/DeliveryQueueMaxSamples/#text: 256 {} ros-foxy-talker_1 | 1634567311.601314 [0] talker: config: Domain/Internal/PrimaryReorderMaxSamples/#text: 128 {} ros-foxy-talker_1 | 1634567311.601315 [0] talker: config: Domain/Internal/SecondaryReorderMaxSamples/#text: 128 {} ros-foxy-talker_1 | 1634567311.601316 [0] talker: config: Domain/Internal/DefragUnreliableMaxSamples/#text: 4 {} ros-foxy-talker_1 | 1634567311.601317 [0] talker: config: Domain/Internal/DefragReliableMaxSamples/#text: 16 {} ros-foxy-talker_1 | 1634567311.601319 [0] talker: config: Domain/Internal/BuiltinEndpointSet/#text: writers {} ros-foxy-talker_1 | 1634567311.601320 [0] talker: config: Domain/Internal/MeasureHbToAckLatency/#text: false {} ros-foxy-talker_1 | 1634567311.601321 [0] talker: config: Domain/Internal/UnicastResponseToSPDPMessages/#text: true {} ros-foxy-talker_1 | 1634567311.601322 [0] talker: config: Domain/Internal/SynchronousDeliveryPriorityThreshold/#text: 0 {} ros-foxy-talker_1 | 1634567311.601324 [0] talker: config: Domain/Internal/SynchronousDeliveryLatencyBound/#text: inf {} ros-foxy-talker_1 | 1634567311.601325 [0] talker: config: Domain/Internal/MaxParticipants/#text: 0 {} ros-foxy-talker_1 | 1634567311.601326 [0] talker: config: Domain/Internal/AccelerateRexmitBlockSize/#text: 0 {} ros-foxy-talker_1 | 1634567311.601328 [0] talker: config: Domain/Internal/RetransmitMerging/#text: never {} ros-foxy-talker_1 | 1634567311.601329 [0] talker: config: Domain/Internal/RetransmitMergingPeriod/#text: 5 ms {} ros-foxy-talker_1 | 1634567311.601334 [0] talker: config: Domain/Internal/HeartbeatInterval/#text: 100 ms {} ros-foxy-talker_1 | 1634567311.601335 [0] talker: config: Domain/Internal/HeartbeatInterval[@min]: 5 ms {} ros-foxy-talker_1 | 1634567311.601336 [0] talker: config: Domain/Internal/HeartbeatInterval[@minsched]: 20 ms {} ros-foxy-talker_1 | 1634567311.601338 [0] talker: config: Domain/Internal/HeartbeatInterval[@max]: 8 s {} ros-foxy-talker_1 | 1634567311.601340 [0] talker: config: Domain/Internal/MaxQueuedRexmitBytes/#text: 512 KiB {} ros-foxy-talker_1 | 1634567311.601341 [0] talker: config: Domain/Internal/MaxQueuedRexmitMessages/#text: 200 {} ros-foxy-talker_1 | 1634567311.601342 [0] talker: config: Domain/Internal/LeaseDuration/#text: 10 s {} ros-foxy-talker_1 | 1634567311.601344 [0] talker: config: Domain/Internal/WriterLingerDuration/#text: 1 s {} ros-foxy-talker_1 | 1634567311.601347 [0] talker: config: Domain/Internal/MinimumSocketReceiveBufferSize/#text: default {} ros-foxy-talker_1 | 1634567311.601349 [0] talker: config: Domain/Internal/MinimumSocketSendBufferSize/#text: 64 KiB {} ros-foxy-talker_1 | 1634567311.601350 [0] talker: config: Domain/Internal/NackDelay/#text: 100 ms {} ros-foxy-talker_1 | 1634567311.601351 [0] talker: config: Domain/Internal/AckDelay/#text: 10 ms {} ros-foxy-talker_1 | 1634567311.601353 [0] talker: config: Domain/Internal/AutoReschedNackDelay/#text: 1 s {} ros-foxy-talker_1 | 1634567311.601354 [0] talker: config: Domain/Internal/PreEmptiveAckDelay/#text: 10 ms {} ros-foxy-talker_1 | 1634567311.601355 [0] talker: config: Domain/Internal/ScheduleTimeRounding/#text: 0 s {} ros-foxy-talker_1 | 1634567311.601357 [0] talker: config: Domain/Internal/DDSI2DirectMaxThreads/#text: 1 {} ros-foxy-talker_1 | 1634567311.601358 [0] talker: config: Domain/Internal/SquashParticipants/#text: false {} ros-foxy-talker_1 | 1634567311.601359 [0] talker: config: Domain/Internal/SPDPResponseMaxDelay/#text: 0 s {} ros-foxy-talker_1 | 1634567311.601361 [0] talker: config: Domain/Internal/LateAckMode/#text: false {} ros-foxy-talker_1 | 1634567311.601362 [0] talker: config: Domain/Internal/RetryOnRejectBestEffort/#text: false {} ros-foxy-talker_1 | 1634567311.601365 [0] talker: config: Domain/Internal/GenerateKeyhash/#text: false {} ros-foxy-talker_1 | 1634567311.601366 [0] talker: config: Domain/Internal/MaxSampleSize/#text: 2147483647 B {} ros-foxy-talker_1 | 1634567311.601367 [0] talker: config: Domain/Internal/WriteBatch/#text: false {} ros-foxy-talker_1 | 1634567311.601369 [0] talker: config: Domain/Internal/LivelinessMonitoring/#text: false {} ros-foxy-talker_1 | 1634567311.601370 [0] talker: config: Domain/Internal/LivelinessMonitoring[@StackTraces]: true {} ros-foxy-talker_1 | 1634567311.601371 [0] talker: config: Domain/Internal/LivelinessMonitoring[@Interval]: 1 s {} ros-foxy-talker_1 | 1634567311.601373 [0] talker: config: Domain/Internal/MonitorPort/#text: -1 {} ros-foxy-talker_1 | 1634567311.601374 [0] talker: config: Domain/Internal/AssumeMulticastCapable/#text: {} ros-foxy-talker_1 | 1634567311.601375 [0] talker: config: Domain/Internal/PrioritizeRetransmit/#text: true {} ros-foxy-talker_1 | 1634567311.601377 [0] talker: config: Domain/Internal/UseMulticastIfMreqn/#text: 0 {} ros-foxy-talker_1 | 1634567311.601401 [0] talker: config: Domain/Internal/SendAsync/#text: false {} ros-foxy-talker_1 | 1634567311.601404 [0] talker: config: Domain/Internal/RediscoveryBlacklistDuration/#text: 0 s {} ros-foxy-talker_1 | 1634567311.601405 [0] talker: config: Domain/Internal/RediscoveryBlacklistDuration[@enforce]: false {} ros-foxy-talker_1 | 1634567311.601406 [0] talker: config: Domain/Internal/MultipleReceiveThreads/#text: default {} ros-foxy-talker_1 | 1634567311.601408 [0] talker: config: Domain/Internal/MultipleReceiveThreads[@maxretries]: 4294967295 {} ros-foxy-talker_1 | 1634567311.601410 [0] talker: config: Domain/Internal/Test/XmitLossiness/#text: 0 {} ros-foxy-talker_1 | 1634567311.601413 [0] talker: config: Domain/Internal/Watermarks/WhcLow/#text: 1 KiB {} ros-foxy-talker_1 | 1634567311.601414 [0] talker: config: Domain/Internal/Watermarks/WhcHigh/#text: 500 KiB {} ros-foxy-talker_1 | 1634567311.601415 [0] talker: config: Domain/Internal/Watermarks/WhcHighInit/#text: 30 KiB {} ros-foxy-talker_1 | 1634567311.601417 [0] talker: config: Domain/Internal/Watermarks/WhcAdaptive/#text: true {} ros-foxy-talker_1 | 1634567311.601418 [0] talker: config: Domain/Internal/BurstSize/MaxRexmit/#text: 1 MiB {} ros-foxy-talker_1 | 1634567311.601420 [0] talker: config: Domain/Internal/BurstSize/MaxInitTransmit/#text: 4294967295 {} ros-foxy-talker_1 | 1634567311.601421 [0] talker: config: Domain/Internal/EnableExpensiveChecks/#text: {} ros-foxy-talker_1 | 1634567311.601422 [0] talker: config: Domain/TCP/NoDelay/#text: true {} ros-foxy-talker_1 | 1634567311.601424 [0] talker: config: Domain/TCP/Port/#text: -1 {} ros-foxy-talker_1 | 1634567311.601425 [0] talker: config: Domain/TCP/ReadTimeout/#text: 2 s {} ros-foxy-talker_1 | 1634567311.601426 [0] talker: config: Domain/TCP/WriteTimeout/#text: 2 s {} ros-foxy-talker_1 | 1634567311.601427 [0] talker: config: Domain/TCP/AlwaysUsePeeraddrForUnicast/#text: false {} ros-foxy-talker_1 | 1634567311.601429 [0] talker: config: Domain/ThreadPool/Enable/#text: false {} ros-foxy-talker_1 | 1634567311.601430 [0] talker: config: Domain/ThreadPool/Threads/#text: 4 {} ros-foxy-talker_1 | 1634567311.601432 [0] talker: config: Domain/ThreadPool/ThreadMax/#text: 8 {} ros-foxy-talker_1 | 1634567311.601433 [0] talker: config: Domain[@Id]: 0 {0} ros-foxy-talker_1 | 1634567311.601457 [0] talker: started at 1634567311.06601445 -- 2021-10-18 14:28:31+00:00 ros-foxy-talker_1 | 1634567311.601474 [0] talker: udp initialized ros-foxy-talker_1 | 1634567311.601657 [0] talker: interfaces: lo udp/127.0.0.1(q1) eth0 udp/172.22.0.2(q9) ros-foxy-talker_1 | 1634567311.601700 [0] talker: selected interface: eth0 (index 33) ros-foxy-talker_1 | 1634567311.601714 [0] talker: ownip: udp/172.22.0.2 ros-foxy-talker_1 | 1634567311.601716 [0] talker: extip: udp/172.19.131.117 ros-foxy-talker_1 | 1634567311.601717 [0] talker: extmask: invalid/0 ros-foxy-talker_1 | 1634567311.601718 [0] talker: SPDP MC: udp/239.255.0.1 ros-foxy-talker_1 | 1634567311.601719 [0] talker: default MC: udp/239.255.0.1 ros-foxy-talker_1 | 1634567311.601719 [0] talker: SSM support included ros-foxy-talker_1 | 1634567311.601767 [0] talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes ros-foxy-talker_1 | 1634567311.601832 [0] talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes ros-foxy-talker_1 | 1634567311.601836 [0] talker: rtps_init: uc ports: disc 7412 data 7413 ros-foxy-talker_1 | 1634567311.601838 [0] talker: rtps_init: domainid 0 participantid 1 ros-foxy-talker_1 | 1634567311.601839 [0] talker: Unicast Ports: discovery 7412 data 7413 ros-foxy-talker_1 | 1634567311.601842 [0] talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes ros-foxy-talker_1 | 1634567311.601860 [0] talker: add_peer_addresses: add udp/172.19.131.117:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426 ros-foxy-talker_1 | [INFO] [1634567312.644346700] [talker]: Publishing: "Hello World: 0" ros-foxy-talker_1 | [INFO] [1634567313.634743000] [talker]: Publishing: "Hello World: 1" ros-foxy-talker_1 | [INFO] [1634567314.634662300] [talker]: Publishing: "Hello World: 2" ros-foxy-talker_1 | [INFO] [1634567315.635105300] [talker]: Publishing: "Hello World: 3" ^CGracefully stopping... (press Ctrl+C again to force) 1634567316.609675 [0] listener: udp finalized 1634567316.609739 [0] listener: Finis. Stopping ros-test_ros-foxy-talker_1 ... Stopping ros-test_ros-foxy-talker_1 ... done Removing ros-test_ros-foxy-talker_1 ... done Removing network ros-test_ros-test-net ```

As you can see, I do not receive any message from the host yet. I executed the test above from a second laptop I have, which runs Windows 10, still with WSL2 and Ubuntu as a host.

[[ NOTE ]] Edited by thijsmie to put long logs in collapsible sections.

dpotman commented 2 years ago

Thanks for the output. I did a compare with the output on my machine, and except for the IP addresses there are no differences. One line that I have in my output, and that's not in the above output, is Docker creating the bridge network: Creating network "ros-test_ros-test-net" with driver "bridge" But that is probably not in your output because the network already exists from an earlier test?

Could you re-run the test with the Cyclone log level set to 'finest' and post the output here? That should give more details on the talker and listener discovering each other. To set the log verbosity, you can replace <Verbosity>config</Verbosity> with <Verbosity>finest</Verbosity> in the Cyclone configuration XML (in both the Docker compose file and the bash script).

lanouettea commented 2 years ago

Sure thing. Please find the additionnal very verbose output below.

Also, yes, the Creating network "ros-test_ros-test-net" with driver "bridge" is not in my output because it already exists on my side. :)

╰─ ./test-container-host_cyclone.sh
1634597977.698157 [0]   listener: config: Domain/General/NetworkInterfaceAddress/#text: 172.19.131.117 {0}
1634597977.698193 [0]   listener: config: Domain/General/MulticastRecvNetworkInterfaceAddresses/#text: preferred {}
1634597977.698198 [0]   listener: config: Domain/General/ExternalNetworkAddress/#text: auto {}
1634597977.698200 [0]   listener: config: Domain/General/ExternalNetworkMask/#text: 0.0.0.0 {}
1634597977.698202 [0]   listener: config: Domain/General/AllowMulticast/#text: false {0}
1634597977.698205 [0]   listener: config: Domain/General/PreferMulticast/#text: false {}
1634597977.698207 [0]   listener: config: Domain/General/MulticastTimeToLive/#text: 32 {}
1634597977.698209 [0]   listener: config: Domain/General/DontRoute/#text: false {}
1634597977.698211 [0]   listener: config: Domain/General/Transport/#text: udp {}
1634597977.698213 [0]   listener: config: Domain/General/EnableMulticastLoopback/#text: true {}
1634597977.698216 [0]   listener: config: Domain/General/MaxMessageSize/#text: 14720 B {}
1634597977.698218 [0]   listener: config: Domain/General/MaxRexmitMessageSize/#text: 1456 B {}
1634597977.698220 [0]   listener: config: Domain/General/FragmentSize/#text: 1344 B {}
1634597977.698224 [0]   listener: config: Domain/Sizing/ReceiveBufferSize/#text: 1 MiB {}
1634597977.698226 [0]   listener: config: Domain/Sizing/ReceiveBufferChunkSize/#text: 128 KiB {}
1634597977.698228 [0]   listener: config: Domain/Compatibility/StandardsConformance/#text: lax {}
1634597977.698251 [0]   listener: config: Domain/Compatibility/ExplicitlyPublishQosSetToDefault/#text: false {}
1634597977.698272 [0]   listener: config: Domain/Compatibility/ManySocketsMode/#text: single {}
1634597977.698275 [0]   listener: config: Domain/Compatibility/AssumeRtiHasPmdEndpoints/#text: false {}
1634597977.698278 [0]   listener: config: Domain/Discovery/Tag/#text:  {}
1634597977.698298 [0]   listener: config: Domain/Discovery/ExternalDomainId/#text: 0 {}
1634597977.698318 [0]   listener: config: Domain/Discovery/DSGracePeriod/#text: 30 s {}
1634597977.698339 [0]   listener: config: Domain/Discovery/Peers/Peer[@Address]: 172.19.131.117 {0}
1634597977.698360 [0]   listener: config: Domain/Discovery/ParticipantIndex/#text: 0 {0}
1634597977.698380 [0]   listener: config: Domain/Discovery/MaxAutoParticipantIndex/#text: 9 {}
1634597977.698386 [0]   listener: config: Domain/Discovery/SPDPMulticastAddress/#text: 239.255.0.1 {}
1634597977.698388 [0]   listener: config: Domain/Discovery/SPDPInterval/#text: 30 s {}
1634597977.698391 [0]   listener: config: Domain/Discovery/DefaultMulticastAddress/#text: auto {}
1634597977.698393 [0]   listener: config: Domain/Discovery/Ports/Base/#text: 7400 {}
1634597977.698396 [0]   listener: config: Domain/Discovery/Ports/DomainGain/#text: 250 {}
1634597977.698398 [0]   listener: config: Domain/Discovery/Ports/ParticipantGain/#text: 2 {}
1634597977.698400 [0]   listener: config: Domain/Discovery/Ports/MulticastMetaOffset/#text: 0 {}
1634597977.698403 [0]   listener: config: Domain/Discovery/Ports/UnicastMetaOffset/#text: 10 {}
1634597977.698405 [0]   listener: config: Domain/Discovery/Ports/MulticastDataOffset/#text: 1 {}
1634597977.698408 [0]   listener: config: Domain/Discovery/Ports/UnicastDataOffset/#text: 11 {}
1634597977.698415 [0]   listener: config: Domain/Tracing/Category/#text: trace {0}
1634597977.698417 [0]   listener: config: Domain/Tracing/OutputFile/#text: stderr {0}
1634597977.698420 [0]   listener: config: Domain/Tracing/AppendToFile/#text: false {}
1634597977.698441 [0]   listener: config: Domain/Tracing/PacketCaptureFile/#text:  {}
1634597977.698446 [0]   listener: config: Domain/Internal/DeliveryQueueMaxSamples/#text: 256 {}
1634597977.698448 [0]   listener: config: Domain/Internal/PrimaryReorderMaxSamples/#text: 128 {}
1634597977.698451 [0]   listener: config: Domain/Internal/SecondaryReorderMaxSamples/#text: 128 {}
1634597977.698453 [0]   listener: config: Domain/Internal/DefragUnreliableMaxSamples/#text: 4 {}
1634597977.698456 [0]   listener: config: Domain/Internal/DefragReliableMaxSamples/#text: 16 {}
1634597977.698458 [0]   listener: config: Domain/Internal/BuiltinEndpointSet/#text: writers {}
1634597977.698460 [0]   listener: config: Domain/Internal/MeasureHbToAckLatency/#text: false {}
1634597977.698462 [0]   listener: config: Domain/Internal/UnicastResponseToSPDPMessages/#text: true {}
1634597977.698464 [0]   listener: config: Domain/Internal/SynchronousDeliveryPriorityThreshold/#text: 0 {}
1634597977.698466 [0]   listener: config: Domain/Internal/SynchronousDeliveryLatencyBound/#text: inf {}
1634597977.698469 [0]   listener: config: Domain/Internal/MaxParticipants/#text: 0 {}
1634597977.698471 [0]   listener: config: Domain/Internal/AccelerateRexmitBlockSize/#text: 0 {}
1634597977.698473 [0]   listener: config: Domain/Internal/RetransmitMerging/#text: never {}
1634597977.698475 [0]   listener: config: Domain/Internal/RetransmitMergingPeriod/#text: 5 ms {}
1634597977.698477 [0]   listener: config: Domain/Internal/HeartbeatInterval/#text: 100 ms {}
1634597977.698480 [0]   listener: config: Domain/Internal/HeartbeatInterval[@min]: 5 ms {}
1634597977.698482 [0]   listener: config: Domain/Internal/HeartbeatInterval[@minsched]: 20 ms {}
1634597977.698484 [0]   listener: config: Domain/Internal/HeartbeatInterval[@max]: 8 s {}
1634597977.698487 [0]   listener: config: Domain/Internal/MaxQueuedRexmitBytes/#text: 512 KiB {}
1634597977.698507 [0]   listener: config: Domain/Internal/MaxQueuedRexmitMessages/#text: 200 {}
1634597977.698510 [0]   listener: config: Domain/Internal/LeaseDuration/#text: 10 s {}
1634597977.698513 [0]   listener: config: Domain/Internal/WriterLingerDuration/#text: 1 s {}
1634597977.698516 [0]   listener: config: Domain/Internal/MinimumSocketReceiveBufferSize/#text: default {}
1634597977.698518 [0]   listener: config: Domain/Internal/MinimumSocketSendBufferSize/#text: 64 KiB {}
1634597977.698521 [0]   listener: config: Domain/Internal/NackDelay/#text: 100 ms {}
1634597977.698542 [0]   listener: config: Domain/Internal/AckDelay/#text: 10 ms {}
1634597977.698563 [0]   listener: config: Domain/Internal/AutoReschedNackDelay/#text: 1 s {}
1634597977.698583 [0]   listener: config: Domain/Internal/PreEmptiveAckDelay/#text: 10 ms {}
1634597977.698607 [0]   listener: config: Domain/Internal/ScheduleTimeRounding/#text: 0 s {}
1634597977.698632 [0]   listener: config: Domain/Internal/DDSI2DirectMaxThreads/#text: 1 {}
1634597977.698637 [0]   listener: config: Domain/Internal/SquashParticipants/#text: false {}
1634597977.698659 [0]   listener: config: Domain/Internal/SPDPResponseMaxDelay/#text: 0 s {}
1634597977.698681 [0]   listener: config: Domain/Internal/LateAckMode/#text: false {}
1634597977.698688 [0]   listener: config: Domain/Internal/RetryOnRejectBestEffort/#text: false {}
1634597977.698691 [0]   listener: config: Domain/Internal/GenerateKeyhash/#text: false {}
1634597977.698715 [0]   listener: config: Domain/Internal/MaxSampleSize/#text: 2147483647 B {}
1634597977.698721 [0]   listener: config: Domain/Internal/WriteBatch/#text: false {}
1634597977.698746 [0]   listener: config: Domain/Internal/LivelinessMonitoring/#text: false {}
1634597977.698752 [0]   listener: config: Domain/Internal/LivelinessMonitoring[@StackTraces]: true {}
1634597977.698776 [0]   listener: config: Domain/Internal/LivelinessMonitoring[@Interval]: 1 s {}
1634597977.698799 [0]   listener: config: Domain/Internal/MonitorPort/#text: -1 {}
1634597977.698803 [0]   listener: config: Domain/Internal/AssumeMulticastCapable/#text:  {}
1634597977.698806 [0]   listener: config: Domain/Internal/PrioritizeRetransmit/#text: true {}
1634597977.698809 [0]   listener: config: Domain/Internal/UseMulticastIfMreqn/#text: 0 {}
1634597977.698833 [0]   listener: config: Domain/Internal/SendAsync/#text: false {}
1634597977.698838 [0]   listener: config: Domain/Internal/RediscoveryBlacklistDuration/#text: 0 s {}
1634597977.698842 [0]   listener: config: Domain/Internal/RediscoveryBlacklistDuration[@enforce]: false {}
1634597977.698845 [0]   listener: config: Domain/Internal/MultipleReceiveThreads/#text: default {}
1634597977.698848 [0]   listener: config: Domain/Internal/MultipleReceiveThreads[@maxretries]: 4294967295 {}
1634597977.698852 [0]   listener: config: Domain/Internal/Test/XmitLossiness/#text: 0 {}
1634597977.698856 [0]   listener: config: Domain/Internal/Watermarks/WhcLow/#text: 1 KiB {}
1634597977.698858 [0]   listener: config: Domain/Internal/Watermarks/WhcHigh/#text: 500 KiB {}
1634597977.698861 [0]   listener: config: Domain/Internal/Watermarks/WhcHighInit/#text: 30 KiB {}
1634597977.698864 [0]   listener: config: Domain/Internal/Watermarks/WhcAdaptive/#text: true {}
1634597977.698868 [0]   listener: config: Domain/Internal/BurstSize/MaxRexmit/#text: 1 MiB {}
1634597977.698893 [0]   listener: config: Domain/Internal/BurstSize/MaxInitTransmit/#text: 4294967295 {}
1634597977.698898 [0]   listener: config: Domain/Internal/EnableExpensiveChecks/#text:  {}
1634597977.698925 [0]   listener: config: Domain/TCP/NoDelay/#text: true {}
1634597977.698950 [0]   listener: config: Domain/TCP/Port/#text: -1 {}
1634597977.698976 [0]   listener: config: Domain/TCP/ReadTimeout/#text: 2 s {}
1634597977.699002 [0]   listener: config: Domain/TCP/WriteTimeout/#text: 2 s {}
1634597977.699007 [0]   listener: config: Domain/TCP/AlwaysUsePeeraddrForUnicast/#text: false {}
1634597977.699010 [0]   listener: config: Domain/ThreadPool/Enable/#text: false {}
1634597977.699013 [0]   listener: config: Domain/ThreadPool/Threads/#text: 4 {}
1634597977.699016 [0]   listener: config: Domain/ThreadPool/ThreadMax/#text: 8 {}
1634597977.699019 [0]   listener: config: Domain[@Id]: 0 {0}
1634597977.699047 [0]   listener: started at 1634597977.06699031 -- 2021-10-18 18:59:37-04:00
1634597977.699072 [0]   listener: udp initialized
1634597977.699267 [0]   listener: interfaces: lo udp/127.0.0.1(q1) eth0 udp/172.19.131.117(q9)
1634597977.699298 [0]   listener: selected interface: eth0 (index 6)
1634597977.699327 [0]   listener: ownip: udp/172.19.131.117
1634597977.699346 [0]   listener: extip: udp/172.19.131.117
1634597977.699349 [0]   listener: extmask: invalid/0
1634597977.699350 [0]   listener: SPDP MC: udp/239.255.0.1
1634597977.699352 [0]   listener: default MC: udp/239.255.0.1
1634597977.699353 [0]   listener: SSM support included
1634597977.699478 [0]   listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1634597977.699522 [0]   listener: ddsi_udp_create_conn unicast socket 4 port 7410
1634597977.699528 [0]   listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1634597977.699531 [0]   listener: ddsi_udp_create_conn unicast socket 5 port 7411
1634597977.699533 [0]   listener: rtps_init: uc ports: disc 7410 data 7411
1634597977.699535 [0]   listener: rtps_init: domainid 0 participantid 0
1634597977.699537 [0]   listener: Unicast Ports: discovery 7410 data 7411
1634597977.699539 [0]   listener: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
1634597977.699543 [0]   listener: ddsi_udp_create_conn transmit socket 6 port 58474
1634597977.699561 [0]   listener: add_peer_addresses: add udp/172.19.131.117:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426
1634597977.699566 [0]   listener: create_thread: gc: class 0 priority 0 stack 0
1634597977.699687 [0]   listener: create_thread: dq.builtins: class 0 priority 0 stack 0
1634597977.699790 [0]         gc: started new thread 25759: gc
1634597977.699907 [0]   listener: create_thread: dq.user: class 0 priority 0 stack 0
1634597977.699966 [0] dq.builtin: started new thread 25760: dq.builtins
1634597977.700060 [0] dq.builtin: thread_cputime 0.000000000
1634597977.700089 [0]   listener: new_local_orphan_writer(DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
1634597977.700061 [0]         gc: thread_cputime 0.000000000
1634597977.700173 [0]   listener: WRITER 0:0:0:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.700264 [0]    dq.user: started new thread 25761: dq.user
1634597977.700273 [0]    dq.user: thread_cputime 0.000000000
1634597977.700279 [0]   listener: match_writer_with_readers(wr 0:0:0:100c2) scanning all rds of topic DCPSParticipant
1634597977.700314 [0]   listener: new_local_orphan_writer(DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
1634597977.700351 [0]   listener: WRITER 0:0:0:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.700395 [0]   listener: match_writer_with_readers(wr 0:0:0:3c2) scanning all rds of topic DCPSPublication
1634597977.700399 [0]   listener: new_local_orphan_writer(DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
1634597977.700411 [0]   listener: WRITER 0:0:0:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.700447 [0]   listener: match_writer_with_readers(wr 0:0:0:4c2) scanning all rds of topic DCPSSubscription
1634597977.700457 [0]   listener: create_thread: tev: class 0 priority 0 stack 0
1634597977.700578 [0]   listener: create_thread: recv: class 0 priority 0 stack 0
1634597977.700599 [0]        tev: started new thread 25762: tev
1634597977.700656 [0]   listener: create_thread: recvUC: class 0 priority 0 stack 0
1634597977.700693 [0]       recv: started new thread 25763: recv
1634597977.700777 [0]   listener: new_participant(2711001:4ba396af:48260d2e:1c1, 0)
1634597977.700788 [0]     recvUC: started new thread 25764: recvUC
1634597977.700828 [0]   listener: PARTICIPANT 2711001:4ba396af:48260d2e:1c1 QOS={user_data=10<"enclave=/;">,adlink_entity_factory=0}
1634597977.700830 [0]     recvUC: thread_cputime 0.000000000
1634597977.700840 [0]       recv: thread_cputime 0.000000000
1634597977.700828 [0]        tev: thread_cputime 0.000000000
1634597977.700927 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:100c2, (null).DCPSParticipant/ParticipantBuiltinTopicData)
1634597977.700970 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:100c2 @ 0x1bba414) user 1 builtin 1
1634597977.701003 [0]   listener: WRITER 2711001:4ba396af:48260d2e:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701030 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:100c2) scanning proxy participants tgt=0
1634597977.701042 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:4c2, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
1634597977.701066 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:4c2 @ 0x1ba1c34) user 1 builtin 2
1634597977.701096 [0]   listener: WRITER 2711001:4ba396af:48260d2e:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.701124 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:4c2) scanning proxy participants tgt=4c7
1634597977.701132 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:3c2, (null).DCPSPublication/PublicationBuiltinTopicData)
1634597977.701136 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:3c2 @ 0x1d6bd84) user 1 builtin 3
1634597977.701146 [0]   listener: WRITER 2711001:4ba396af:48260d2e:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.701150 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:3c2) scanning proxy participants tgt=3c7
1634597977.701155 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:200c2, (null).DCPSParticipantMessage/ParticipantMessageData)
1634597977.701157 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:200c2 @ 0x1d7ab14) user 1 builtin 4
1634597977.701165 [0]   listener: WRITER 2711001:4ba396af:48260d2e:200c2 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
1634597977.701189 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:200c2) scanning proxy participants tgt=200c7
1634597977.701212 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:100c7, (null).DCPSParticipant/ParticipantBuiltinTopicData)
1634597977.701233 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:100c7 @ 0x1c9ac04) user 1 builtin 5
1634597977.701262 [0]   listener: READER 2711001:4ba396af:48260d2e:100c7 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701285 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:100c7) scanning proxy participants tgt=0
1634597977.701290 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:4c7, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
1634597977.701293 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:4c7 @ 0x1c1f5a4) user 1 builtin 6
1634597977.701304 [0]   listener: READER 2711001:4ba396af:48260d2e:4c7 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701307 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:4c7) scanning proxy participants tgt=4c2
1634597977.701309 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:3c7, (null).DCPSPublication/PublicationBuiltinTopicData)
1634597977.701315 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:3c7 @ 0x1b1fd74) user 1 builtin 7
1634597977.701323 [0]   listener: READER 2711001:4ba396af:48260d2e:3c7 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701345 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:3c7) scanning proxy participants tgt=3c2
1634597977.701350 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:200c7, (null).DCPSParticipantMessage/ParticipantMessageData)
1634597977.701353 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:200c7 @ 0x1d4e9c4) user 1 builtin 8
1634597977.701363 [0]   listener: READER 2711001:4ba396af:48260d2e:200c7 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701366 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:200c7) scanning proxy participants tgt=200c2
1634597977.701376 [0]   listener: write_sample 0:0:0:100c2 #1: ST0 DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant:(blob)
1634597977.701381 [0]   listener:  => EVERYONE
1634597977.701385 [0]   listener: spdp_write(2711001:4ba396af:48260d2e:1c1)
1634597977.701391 [0]   listener: spdp_write(2711001:4ba396af:48260d2e:1c1) - internals: CAQC-L-1540/0.7.0/Linux/Linux
1634597977.701422 [0]   listener: write_sample 2711001:4ba396af:48260d2e:100c2 #1: ST0 DCPSParticipant/ParticipantBuiltinTopicData:{user_data=10<"enclave=/;">,protocol_version=2:1,vendorid=1:16,participant_lease_duration=10000000000,participant_guid={2711001:4ba396af:48260d2e:1c1},builtin_endpoint_set=3135,domain_id=0,default_unicast_locator={udp/172.19.131.117:7411},metatraffic_unicast_locator={udp/172.19.131.117:7410},adlink_participant_version_info=0:44:0:0:0:"CAQC-L-1540/0.7.0/Linux/Linux",cyclone_receive_buffer_size=425984}
1634597977.701485 [0]   listener: non-timed queue now has 1 items
1634597977.701527 [0]        tev: xpack_addmsg 0x7f5408001380 0x1c1e9a0 0(data(0:0:0:0:#0/1)): niov 0 sz 0 => now niov 3 sz 272
1634597977.701597 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1cfa8a0 reg?yes refc 2 DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
1634597977.701602 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.701604 [0]   listener: create_and_lock_ktopic: ktp 0x1d54970
1634597977.701607 [0]   listener: dds_create_topic_generic: reuse sertopic 0x1cfa8a0
1634597977.701610 [0]   listener: dds_create_topic_generic: new topic 1725843491
1634597977.701624 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:107, __BUILT-IN PARTITION__.DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
1634597977.701670 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:107 @ 0x1ab87c4) user 2 builtin 8
1634597977.701706 [0]        tev: nn_xpack_send 272: 0x7f540800138c:20 0x1ba3c08:36 0x1cd4d94:216 [ udp/172.19.131.117:7410 udp/172.19.131.117:7412 udp/172.19.131.117:7414 udp/172.19.131.117:7416 udp/172.19.131.117:7418 udp/172.19.131.117:7420 udp/172.19.131.117:7422 udp/172.19.131.117:7424 udp/172.19.131.117:7426 ]
1634597977.701750 [0]        tev: traffic-xmit (9) 272
1634597977.701790 [0]        tev: write_sample 2711001:4ba396af:48260d2e:200c2 #1: ST0 DCPSParticipantMessage/ParticipantMessageData:{2711001:4ba396af:48260d2e:1}:1<0>
1634597977.701635 [0]       recv: HDR(2711001:4ba396af:48260d2e vendor 1.16) len 272 from udp/172.19.131.117:58474
1634597977.701823 [0]        tev: resched pmd(2711001:4ba396af:48260d2e:1c1): 8s
1634597977.701722 [0]   listener: READER 2711001:4ba396af:48260d2e:107 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.701901 [0]   listener: write_sample 0:0:0:4c2 #1: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.701927 [0]   listener:  => EVERYONE
1634597977.701929 [0]       recv: INFOTS(1634597977.701406300)
1634597977.701944 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:107) scanning all pwrs of topic DCPSParticipant
1634597977.701948 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:107) scanning all wrs of topic DCPSParticipant
1634597977.701956 [0]   listener:   reader_add_local_connection(wr 0:0:0:100c2 rd 2711001:4ba396af:48260d2e:107)
1634597977.701969 [0]   listener:   writer_add_local_connection(wr 0:0:0:100c2 rd 2711001:4ba396af:48260d2e:107)
1634597977.701969 [0]       recv: DATA(2711001:4ba396af:48260d2e:100c2 -> 0:0:0:0 #1)
1634597977.701979 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1d4cd20 reg?yes refc 2 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
1634597977.701982 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.701984 [0]   listener: create_and_lock_ktopic: ktp 0x1ca2e20
1634597977.701987 [0]   listener: dds_create_topic_generic: reuse sertopic 0x1d4cd20
1634597977.701991 [0]   listener: dds_create_topic_generic: new topic 1100709344
1634597977.702001 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:207, __BUILT-IN PARTITION__.DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
1634597977.702004 [0] dq.builtin: data(builtin, vendor 1.16): 0:0:0:0 #1: ST0 DCPSParticipant/ParticipantBuiltinTopicData:{user_data=10<"enclave=/;">,protocol_version=2:1,vendorid=1:16,participant_lease_duration=10000000000,participant_guid={2711001:4ba396af:48260d2e:1c1},builtin_endpoint_set=3135,domain_id=0,default_unicast_locator={udp/172.19.131.117:7411},metatraffic_unicast_locator={udp/172.19.131.117:7410},adlink_participant_version_info=0:44:0:0:0:"CAQC-L-1540/0.7.0/Linux/Linux",cyclone_receive_buffer_size=425984}
1634597977.702159 [0] dq.builtin: SPDP ST0 2711001:4ba396af:48260d2e:1c1 (local)
1634597977.702094 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:207 @ 0x1b3ad54) user 3 builtin 8
1634597977.702410 [0]   listener: READER 2711001:4ba396af:48260d2e:207 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.702451 [0]   listener: write_sample 0:0:0:4c2 #2: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.702474 [0]   listener:  => EVERYONE
1634597977.702481 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:207) scanning all pwrs of topic DCPSSubscription
1634597977.702484 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:207) scanning all wrs of topic DCPSSubscription
1634597977.702528 [0]   listener:   reader_add_local_connection(wr 0:0:0:4c2 rd 2711001:4ba396af:48260d2e:207)
1634597977.702590 [0]   listener:   writer_add_local_connection(wr 0:0:0:4c2 rd 2711001:4ba396af:48260d2e:207)
1634597977.702603 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1b465a0 reg?yes refc 2 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
1634597977.702628 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.702630 [0]   listener: create_and_lock_ktopic: ktp 0x1ca3830
1634597977.702658 [0]   listener: dds_create_topic_generic: reuse sertopic 0x1b465a0
1634597977.702662 [0]   listener: dds_create_topic_generic: new topic 1363688101
1634597977.702674 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:307, __BUILT-IN PARTITION__.DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
1634597977.702679 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:307 @ 0x1b471b4) user 4 builtin 8
1634597977.702692 [0]   listener: READER 2711001:4ba396af:48260d2e:307 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.702724 [0]   listener: write_sample 0:0:0:4c2 #3: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.702746 [0]   listener:  => EVERYONE
1634597977.702754 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:307) scanning all pwrs of topic DCPSPublication
1634597977.702780 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:307) scanning all wrs of topic DCPSPublication
1634597977.702811 [0]   listener:   reader_add_local_connection(wr 0:0:0:3c2 rd 2711001:4ba396af:48260d2e:307)
1634597977.702845 [0]   listener:   writer_add_local_connection(wr 0:0:0:3c2 rd 2711001:4ba396af:48260d2e:307)
1634597977.703751 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1cfb550 reg?no refc 1 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
1634597977.703812 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.703817 [0]   listener: create_and_lock_ktopic: ktp 0x1aac3a0
1634597977.703824 [0]   listener: dds_create_topic_generic: register new sertopic 0x1cfb550
1634597977.703832 [0]   listener: dds_create_topic_generic: new topic 169371175
1634597977.703971 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:403, (default).ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
1634597977.703985 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:403 @ 0x1d7d004) user 5 builtin 8
1634597977.704058 [0]   listener: WRITER 2711001:4ba396af:48260d2e:403 QOS={user_data=0<>,topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.704096 [0]   listener: write_sample 0:0:0:3c2 #1: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.704099 [0]   listener:  => EVERYONE
1634597977.704105 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:403) scanning all prds of topic ros_discovery_info
1634597977.704132 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:403) scanning all rds of topic ros_discovery_info
1634597977.704219 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #1: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",durability=1,reliability=1:9223372036854775807,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:403},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.704358 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1cb2f50 reg?no refc 1 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
1634597977.704367 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: ktp 0x1aac3a0 reuse
1634597977.704371 [0]   listener: dds_create_topic_generic: reuse sertopic 0x1cfb550
1634597977.704401 [0]   listener: dds_create_topic_generic: new topic 1253942960
1634597977.704433 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:504, (default).ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
1634597977.704457 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:504 @ 0x1d7d554) user 6 builtin 8
1634597977.704543 [0]   listener: READER 2711001:4ba396af:48260d2e:504 QOS={user_data=0<>,topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.704572 [0]   listener: write_sample 0:0:0:4c2 #4: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.704633 [0]   listener:  => EVERYONE
1634597977.704640 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:504) scanning all pwrs of topic ros_discovery_info
1634597977.704659 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:504) scanning all wrs of topic ros_discovery_info
1634597977.704722 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #1: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",durability=1,reliability=1:9223372036854775807,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:504},adlink_entity_factory=1}
1634597977.705122 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #1: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{},{}}}}
1634597977.705169 [0]   listener:  => EVERYONE
1634597977.705513 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1b60cf0 reg?no refc 1 rt/rosout/rcl_interfaces::msg::dds_::Log_)
1634597977.705536 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.705540 [0]   listener: create_and_lock_ktopic: ktp 0x1d67ce0
1634597977.705592 [0]   listener: dds_create_topic_generic: register new sertopic 0x1b60cf0
1634597977.705598 [0]   listener: dds_create_topic_generic: new topic 205353296
1634597977.705698 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:603, (default).rt/rosout/rcl_interfaces::msg::dds_::Log_)
1634597977.705727 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:603 @ 0x1d7ee14) user 7 builtin 8
1634597977.705779 [0]   listener: WRITER 2711001:4ba396af:48260d2e:603 QOS={user_data=0<>,topic_name="rt/rosout",type_name="rcl_interfaces::msg::dds_::Log_",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1000:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=10000000000,destination_order=0,history=0:1000,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.705790 [0]   listener: write_sample 0:0:0:3c2 #2: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.705792 [0]   listener:  => EVERYONE
1634597977.705864 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:603) scanning all prds of topic rt/rosout
1634597977.705910 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:603) scanning all rds of topic rt/rosout
1634597977.705950 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #2: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="rt/rosout",type_name="rcl_interfaces::msg::dds_::Log_",durability=1,durability_service=0:0:1000:-1:-1:-1,reliability=1:9223372036854775807,lifespan=10000000000,history=0:1000,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:603},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.706039 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #2: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.706048 [0]   listener:  => EVERYONE
1634597977.734959 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1dd78a0 reg?no refc 1 rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_)
1634597977.734997 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.735002 [0]   listener: create_and_lock_ktopic: ktp 0x1d91440
1634597977.735006 [0]   listener: dds_create_topic_generic: register new sertopic 0x1dd78a0
1634597977.735011 [0]   listener: dds_create_topic_generic: new topic 797089259
1634597977.735024 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:703, (default).rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_)
1634597977.735030 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:703 @ 0x1cec574) user 8 builtin 8
1634597977.735043 [0]   listener: WRITER 2711001:4ba396af:48260d2e:703 QOS={user_data=0<>,topic_name="rt/parameter_events",type_name="rcl_interfaces::msg::dds_::ParameterEvent_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:1000,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.735078 [0]   listener: write_sample 0:0:0:3c2 #3: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.735099 [0]   listener:  => EVERYONE
1634597977.735128 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:703) scanning all prds of topic rt/parameter_events
1634597977.735149 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:703) scanning all rds of topic rt/parameter_events
1634597977.735171 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #3: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="rt/parameter_events",type_name="rcl_interfaces::msg::dds_::ParameterEvent_",reliability=1:9223372036854775807,history=0:1000,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:703},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
1634597977.735209 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #3: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.735216 [0]   listener:  => EVERYONE
1634597977.735552 [0]   listener: write_sample 2711001:4ba396af:48260d2e:703 #1: ST0 rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_:{{1634597977,735477300},"/listener",{{"use_sim_time",{1,0,0,0.000000,"",{{}},{{}},{{}},{{}},{{}}}}},{},{}}
1634597977.735578 [0]   listener:  => EVERYONE
1634597977.735839 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1debf80 reg?no refc 1 rr/listener/describe_parametersReply/rcl_interfaces::srv::dds_::DescribeParameters_Response_)
1634597977.735864 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.735869 [0]   listener: create_and_lock_ktopic: ktp 0x1dee410
1634597977.735871 [0]   listener: dds_create_topic_generic: register new sertopic 0x1debf80
1634597977.735875 [0]   listener: dds_create_topic_generic: new topic 1795180588
1634597977.735884 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1dee4c0 reg?no refc 1 rq/listener/describe_parametersRequest/rcl_interfaces::srv::dds_::DescribeParameters_Request_)
1634597977.735886 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.735887 [0]   listener: create_and_lock_ktopic: ktp 0x1deebf0
1634597977.735889 [0]   listener: dds_create_topic_generic: register new sertopic 0x1dee4c0
1634597977.735891 [0]   listener: dds_create_topic_generic: new topic 409627277
1634597977.735911 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:803, (default).rr/listener/describe_parametersReply/rcl_interfaces::srv::dds_::DescribeParameters_Response_)
1634597977.735936 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:803 @ 0x1def564) user 9 builtin 8
1634597977.735968 [0]   listener: WRITER 2711001:4ba396af:48260d2e:803 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.1;">,topic_name="rr/listener/describe_parametersReply",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.735978 [0]   listener: write_sample 0:0:0:3c2 #4: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.735998 [0]   listener:  => EVERYONE
1634597977.736022 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:803) scanning all prds of topic rr/listener/describe_parametersReply
1634597977.736043 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:803) scanning all rds of topic rr/listener/describe_parametersReply
1634597977.736081 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #4: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.1;">,topic_name="rr/listener/describe_parametersReply",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:803},adlink_entity_factory=1}
1634597977.736114 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:904, (default).rq/listener/describe_parametersRequest/rcl_interfaces::srv::dds_::DescribeParameters_Request_)
1634597977.736137 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:904 @ 0x1df0634) user 10 builtin 8
1634597977.736150 [0]   listener: READER 2711001:4ba396af:48260d2e:904 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.1;">,topic_name="rq/listener/describe_parametersRequest",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.736158 [0]   listener: write_sample 0:0:0:4c2 #5: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.736160 [0]   listener:  => EVERYONE
1634597977.736182 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:904) scanning all pwrs of topic rq/listener/describe_parametersRequest
1634597977.736203 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:904) scanning all wrs of topic rq/listener/describe_parametersRequest
1634597977.736238 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #2: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.1;">,topic_name="rq/listener/describe_parametersRequest",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:904},adlink_entity_factory=1}
1634597977.736294 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #4: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.736299 [0]   listener:  => EVERYONE
1634597977.736538 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1df6f10 reg?no refc 1 rr/listener/get_parametersReply/rcl_interfaces::srv::dds_::GetParameters_Response_)
1634597977.736562 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.736566 [0]   listener: create_and_lock_ktopic: ktp 0x1df9b30
1634597977.736569 [0]   listener: dds_create_topic_generic: register new sertopic 0x1df6f10
1634597977.736573 [0]   listener: dds_create_topic_generic: new topic 343963329
1634597977.736584 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1df9e30 reg?no refc 1 rq/listener/get_parametersRequest/rcl_interfaces::srv::dds_::GetParameters_Request_)
1634597977.736607 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.736612 [0]   listener: create_and_lock_ktopic: ktp 0x1dfa560
1634597977.736615 [0]   listener: dds_create_topic_generic: register new sertopic 0x1df9e30
1634597977.736620 [0]   listener: dds_create_topic_generic: new topic 1962606605
1634597977.736634 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:a03, (default).rr/listener/get_parametersReply/rcl_interfaces::srv::dds_::GetParameters_Response_)
1634597977.736659 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:a03 @ 0x1dfaef4) user 11 builtin 8
1634597977.736690 [0]   listener: WRITER 2711001:4ba396af:48260d2e:a03 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.2;">,topic_name="rr/listener/get_parametersReply",type_name="rcl_interfaces::srv::dds_::GetParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.736700 [0]   listener: write_sample 0:0:0:3c2 #5: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.736720 [0]   listener:  => EVERYONE
1634597977.736744 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:a03) scanning all prds of topic rr/listener/get_parametersReply
1634597977.736764 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:a03) scanning all rds of topic rr/listener/get_parametersReply
1634597977.736800 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #5: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.2;">,topic_name="rr/listener/get_parametersReply",type_name="rcl_interfaces::srv::dds_::GetParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:a03},adlink_entity_factory=1}
1634597977.736831 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:b04, (default).rq/listener/get_parametersRequest/rcl_interfaces::srv::dds_::GetParameters_Request_)
1634597977.736838 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:b04 @ 0x1dfbeb4) user 12 builtin 8
1634597977.736849 [0]   listener: READER 2711001:4ba396af:48260d2e:b04 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.2;">,topic_name="rq/listener/get_parametersRequest",type_name="rcl_interfaces::srv::dds_::GetParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.736857 [0]   listener: write_sample 0:0:0:4c2 #6: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.736859 [0]   listener:  => EVERYONE
1634597977.736880 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:b04) scanning all pwrs of topic rq/listener/get_parametersRequest
1634597977.736901 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:b04) scanning all wrs of topic rq/listener/get_parametersRequest
1634597977.736937 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #3: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.2;">,topic_name="rq/listener/get_parametersRequest",type_name="rcl_interfaces::srv::dds_::GetParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:b04},adlink_entity_factory=1}
1634597977.736996 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #5: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.737020 [0]   listener:  => EVERYONE
1634597977.737158 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1dfcec0 reg?no refc 1 rr/listener/get_parameter_typesReply/rcl_interfaces::srv::dds_::GetParameterTypes_Response_)
1634597977.737181 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.737185 [0]   listener: create_and_lock_ktopic: ktp 0x1dfd9b0
1634597977.737187 [0]   listener: dds_create_topic_generic: register new sertopic 0x1dfcec0
1634597977.737191 [0]   listener: dds_create_topic_generic: new topic 730239400
1634597977.737201 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1dfdcb0 reg?no refc 1 rq/listener/get_parameter_typesRequest/rcl_interfaces::srv::dds_::GetParameterTypes_Request_)
1634597977.737203 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.737204 [0]   listener: create_and_lock_ktopic: ktp 0x1dfe4d0
1634597977.737206 [0]   listener: dds_create_topic_generic: register new sertopic 0x1dfdcb0
1634597977.737208 [0]   listener: dds_create_topic_generic: new topic 1482014633
1634597977.737221 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:c03, (default).rr/listener/get_parameter_typesReply/rcl_interfaces::srv::dds_::GetParameterTypes_Response_)
1634597977.737228 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:c03 @ 0x1dfee44) user 13 builtin 8
1634597977.737239 [0]   listener: WRITER 2711001:4ba396af:48260d2e:c03 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.3;">,topic_name="rr/listener/get_parameter_typesReply",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.737267 [0]   listener: write_sample 0:0:0:3c2 #6: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.737288 [0]   listener:  => EVERYONE
1634597977.737311 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:c03) scanning all prds of topic rr/listener/get_parameter_typesReply
1634597977.737332 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:c03) scanning all rds of topic rr/listener/get_parameter_typesReply
1634597977.737350 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #6: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.3;">,topic_name="rr/listener/get_parameter_typesReply",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:c03},adlink_entity_factory=1}
1634597977.737380 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:d04, (default).rq/listener/get_parameter_typesRequest/rcl_interfaces::srv::dds_::GetParameterTypes_Request_)
1634597977.737407 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:d04 @ 0x1dffdc4) user 14 builtin 8
1634597977.737514 [0]   listener: READER 2711001:4ba396af:48260d2e:d04 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.3;">,topic_name="rq/listener/get_parameter_typesRequest",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.737553 [0]   listener: write_sample 0:0:0:4c2 #7: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.737558 [0]   listener:  => EVERYONE
1634597977.737584 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:d04) scanning all pwrs of topic rq/listener/get_parameter_typesRequest
1634597977.737609 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:d04) scanning all wrs of topic rq/listener/get_parameter_typesRequest
1634597977.737655 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #4: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.3;">,topic_name="rq/listener/get_parameter_typesRequest",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:d04},adlink_entity_factory=1}
1634597977.737773 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #6: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.737815 [0]   listener:  => EVERYONE
1634597977.738095 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e00fc0 reg?no refc 1 rr/listener/list_parametersReply/rcl_interfaces::srv::dds_::ListParameters_Response_)
1634597977.738126 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.738134 [0]   listener: create_and_lock_ktopic: ktp 0x1e02000
1634597977.738137 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e00fc0
1634597977.738143 [0]   listener: dds_create_topic_generic: new topic 1869265295
1634597977.738158 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e02300 reg?no refc 1 rq/listener/list_parametersRequest/rcl_interfaces::srv::dds_::ListParameters_Request_)
1634597977.738160 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.738163 [0]   listener: create_and_lock_ktopic: ktp 0x1e02bb0
1634597977.738191 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e02300
1634597977.738216 [0]   listener: dds_create_topic_generic: new topic 11593365
1634597977.738256 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:e03, (default).rr/listener/list_parametersReply/rcl_interfaces::srv::dds_::ListParameters_Response_)
1634597977.738265 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:e03 @ 0x1e03544) user 15 builtin 8
1634597977.738305 [0]   listener: WRITER 2711001:4ba396af:48260d2e:e03 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.4;">,topic_name="rr/listener/list_parametersReply",type_name="rcl_interfaces::srv::dds_::ListParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.738353 [0]   listener: write_sample 0:0:0:3c2 #7: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.738358 [0]   listener:  => EVERYONE
1634597977.738384 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:e03) scanning all prds of topic rr/listener/list_parametersReply
1634597977.738421 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:e03) scanning all rds of topic rr/listener/list_parametersReply
1634597977.738447 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #7: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.4;">,topic_name="rr/listener/list_parametersReply",type_name="rcl_interfaces::srv::dds_::ListParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:e03},adlink_entity_factory=1}
1634597977.738465 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:f04, (default).rq/listener/list_parametersRequest/rcl_interfaces::srv::dds_::ListParameters_Request_)
1634597977.738506 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:f04 @ 0x1e043d4) user 16 builtin 8
1634597977.738545 [0]   listener: READER 2711001:4ba396af:48260d2e:f04 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.4;">,topic_name="rq/listener/list_parametersRequest",type_name="rcl_interfaces::srv::dds_::ListParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.738576 [0]   listener: write_sample 0:0:0:4c2 #8: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.738612 [0]   listener:  => EVERYONE
1634597977.738638 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:f04) scanning all pwrs of topic rq/listener/list_parametersRequest
1634597977.738662 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:f04) scanning all wrs of topic rq/listener/list_parametersRequest
1634597977.738704 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #5: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.4;">,topic_name="rq/listener/list_parametersRequest",type_name="rcl_interfaces::srv::dds_::ListParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:f04},adlink_entity_factory=1}
1634597977.738831 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #7: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.738872 [0]   listener:  => EVERYONE
1634597977.739138 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e05fd0 reg?no refc 1 rr/listener/set_parametersReply/rcl_interfaces::srv::dds_::SetParameters_Response_)
1634597977.739166 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.739171 [0]   listener: create_and_lock_ktopic: ktp 0x1e068d0
1634597977.739174 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e05fd0
1634597977.739179 [0]   listener: dds_create_topic_generic: new topic 2121168360
1634597977.739238 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e06bd0 reg?no refc 1 rq/listener/set_parametersRequest/rcl_interfaces::srv::dds_::SetParameters_Request_)
1634597977.739262 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.739267 [0]   listener: create_and_lock_ktopic: ktp 0x1e09490
1634597977.739270 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e06bd0
1634597977.739275 [0]   listener: dds_create_topic_generic: new topic 1146005580
1634597977.739293 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:1003, (default).rr/listener/set_parametersReply/rcl_interfaces::srv::dds_::SetParameters_Response_)
1634597977.739320 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1003 @ 0x1e09e24) user 17 builtin 8
1634597977.739342 [0]   listener: WRITER 2711001:4ba396af:48260d2e:1003 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.5;">,topic_name="rr/listener/set_parametersReply",type_name="rcl_interfaces::srv::dds_::SetParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.739375 [0]   listener: write_sample 0:0:0:3c2 #8: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.739426 [0]   listener:  => EVERYONE
1634597977.739452 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:1003) scanning all prds of topic rr/listener/set_parametersReply
1634597977.739476 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:1003) scanning all rds of topic rr/listener/set_parametersReply
1634597977.739563 [0]         gc: gc 0x1d85660: not yet, shortsleep
1634597977.739567 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #8: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.5;">,topic_name="rr/listener/set_parametersReply",type_name="rcl_interfaces::srv::dds_::SetParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:1003},adlink_entity_factory=1}
1634597977.739697 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:1104, (default).rq/listener/set_parametersRequest/rcl_interfaces::srv::dds_::SetParameters_Request_)
1634597977.739703 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1104 @ 0x1e0b564) user 18 builtin 8
1634597977.739716 [0]   listener: READER 2711001:4ba396af:48260d2e:1104 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.5;">,topic_name="rq/listener/set_parametersRequest",type_name="rcl_interfaces::srv::dds_::SetParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.739724 [0]   listener: write_sample 0:0:0:4c2 #9: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.739726 [0]   listener:  => EVERYONE
1634597977.739750 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:1104) scanning all pwrs of topic rq/listener/set_parametersRequest
1634597977.739772 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:1104) scanning all wrs of topic rq/listener/set_parametersRequest
1634597977.739811 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #6: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.5;">,topic_name="rq/listener/set_parametersRequest",type_name="rcl_interfaces::srv::dds_::SetParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:1104},adlink_entity_factory=1}
1634597977.739887 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #8: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}}}}}
1634597977.739913 [0]   listener:  => EVERYONE
1634597977.740095 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e0d230 reg?no refc 1 rr/listener/set_parameters_atomicallyReply/rcl_interfaces::srv::dds_::SetParametersAtomically_Response_)
1634597977.740119 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.740124 [0]   listener: create_and_lock_ktopic: ktp 0x1e0cdc0
1634597977.740126 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e0d230
1634597977.740130 [0]   listener: dds_create_topic_generic: new topic 1747908313
1634597977.740171 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e0de00 reg?no refc 1 rq/listener/set_parameters_atomicallyRequest/rcl_interfaces::srv::dds_::SetParametersAtomically_Request_)
1634597977.740191 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.740195 [0]   listener: create_and_lock_ktopic: ktp 0x1e0de60
1634597977.740216 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e0de00
1634597977.740223 [0]   listener: dds_create_topic_generic: new topic 1194648321
1634597977.740239 [0]   listener: new_writer(guid 2711001:4ba396af:48260d2e:1203, (default).rr/listener/set_parameters_atomicallyReply/rcl_interfaces::srv::dds_::SetParametersAtomically_Response_)
1634597977.740263 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1203 @ 0x1e11194) user 19 builtin 8
1634597977.740295 [0]   listener: WRITER 2711001:4ba396af:48260d2e:1203 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.6;">,topic_name="rr/listener/set_parameters_atomicallyReply",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
1634597977.740323 [0]   listener: write_sample 0:0:0:3c2 #9: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597977.740326 [0]   listener:  => EVERYONE
1634597977.740349 [0]   listener: match_writer_with_proxy_readers(wr 2711001:4ba396af:48260d2e:1203) scanning all prds of topic rr/listener/set_parameters_atomicallyReply
1634597977.740354 [0]   listener: match_writer_with_readers(wr 2711001:4ba396af:48260d2e:1203) scanning all rds of topic rr/listener/set_parameters_atomicallyReply
1634597977.740372 [0]   listener: write_sample 2711001:4ba396af:48260d2e:3c2 #9: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.6;">,topic_name="rr/listener/set_parameters_atomicallyReply",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:1203},adlink_entity_factory=1}
1634597977.740406 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:1304, (default).rq/listener/set_parameters_atomicallyRequest/rcl_interfaces::srv::dds_::SetParametersAtomically_Request_)
1634597977.740411 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1304 @ 0x1e05324) user 20 builtin 8
1634597977.740422 [0]   listener: READER 2711001:4ba396af:48260d2e:1304 QOS={user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.6;">,topic_name="rq/listener/set_parameters_atomicallyRequest",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.740430 [0]   listener: write_sample 0:0:0:4c2 #10: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.740449 [0]   listener:  => EVERYONE
1634597977.740488 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:1304) scanning all pwrs of topic rq/listener/set_parameters_atomicallyRequest
1634597977.740493 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:1304) scanning all wrs of topic rq/listener/set_parameters_atomicallyRequest
1634597977.740510 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #7: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=52<"serviceid= 2.71.10.1.4b.a3.96.af.48.26.d.2e.0.0.0.6;">,topic_name="rq/listener/set_parameters_atomicallyRequest",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:1304},adlink_entity_factory=1}
1634597977.740588 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #9: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0
1634597977.740617 [0]   listener:  => EVERYONE
1634597977.740693 [0]         gc: gc 0x1d85660: deleting
1634597977.741282 [0]   listener: dds_create_topic_generic (pp 0x1d5e060 2711001:4ba396af:48260d2e:1c1 sertopic 0x1e0c880 reg?no refc 1 rt/chatter/std_msgs::msg::dds_::String_)
1634597977.741310 [0]   listener: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
1634597977.741334 [0]   listener: create_and_lock_ktopic: ktp 0x1e155c0
1634597977.741339 [0]   listener: dds_create_topic_generic: register new sertopic 0x1e0c880
1634597977.741361 [0]   listener: dds_create_topic_generic: new topic 1277927634
1634597977.741372 [0]   listener: new_reader(guid 2711001:4ba396af:48260d2e:1404, (default).rt/chatter/std_msgs::msg::dds_::String_)
1634597977.741398 [0]   listener: ref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1404 @ 0x1e18ce4) user 21 builtin 8
1634597977.741432 [0]   listener: READER 2711001:4ba396af:48260d2e:1404 QOS={user_data=0<>,topic_name="rt/chatter",type_name="std_msgs::msg::dds_::String_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,destination_order=0,history=0:10,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
1634597977.741461 [0]   listener: write_sample 0:0:0:4c2 #11: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597977.741481 [0]   listener:  => EVERYONE
1634597977.741519 [0]   listener: match_reader_with_proxy_writers(rd 2711001:4ba396af:48260d2e:1404) scanning all pwrs of topic rt/chatter
1634597977.741540 [0]   listener: match_reader_with_writers(rd 2711001:4ba396af:48260d2e:1404) scanning all wrs of topic rt/chatter
1634597977.741609 [0]   listener: write_sample 2711001:4ba396af:48260d2e:4c2 #8: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{topic_name="rt/chatter",type_name="std_msgs::msg::dds_::String_",reliability=1:9223372036854775807,history=0:10,protocol_version=2:1,vendorid=1:16,endpoint_guid={2711001:4ba396af:48260d2e:1404},adlink_entity_factory=1}
1634597977.741687 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #10: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0
1634597977.741713 [0]   listener:  => EVERYONE
Creating network "ros-test_ros-test-net" with driver "bridge"
1634597977.801604 [0]        tev: non-timed queue now has 1 items
1634597977.801633 [0]        tev: xmit spdp 2711001:4ba396af:48260d2e:1c1 to 0:0:0:100c7 (resched 8s)
1634597977.801647 [0]        tev: xpack_addmsg 0x7f5408001380 0x7f54080026c0 0(data(0:0:0:0:#0/1)): niov 0 sz 0 => now niov 3 sz 272
1634597977.801753 [0]       recv: HDR(2711001:4ba396af:48260d2e vendor 1.16) len 272 from udp/172.19.131.117:58474
1634597977.801787 [0]       recv: INFOTS(1634597977.701406300)
1634597977.801820 [0]       recv: DATA(2711001:4ba396af:48260d2e:100c2 -> 0:0:0:0 #1)
1634597977.801865 [0]        tev: nn_xpack_send 272: 0x7f540800138c:20 0x7f54080027b8:36 0x1cd4d94:216 [ udp/172.19.131.117:7410 udp/172.19.131.117:7412 udp/172.19.131.117:7414 udp/172.19.131.117:7416 udp/172.19.131.117:7418 udp/172.19.131.117:7420 udp/172.19.131.117:7422 udp/172.19.131.117:7424 udp/172.19.131.117:7426 ]
1634597977.801879 [0]        tev: traffic-xmit (9) 272
1634597977.801894 [0] dq.builtin: data(builtin, vendor 1.16): 0:0:0:0 #1: ST0 DCPSParticipant/ParticipantBuiltinTopicData:{user_data=10<"enclave=/;">,protocol_version=2:1,vendorid=1:16,participant_lease_duration=10000000000,participant_guid={2711001:4ba396af:48260d2e:1c1},builtin_endpoint_set=3135,domain_id=0,default_unicast_locator={udp/172.19.131.117:7411},metatraffic_unicast_locator={udp/172.19.131.117:7410},adlink_participant_version_info=0:44:0:0:0:"CAQC-L-1540/0.7.0/Linux/Linux",cyclone_receive_buffer_size=425984}
1634597977.801911 [0] dq.builtin: SPDP ST0 2711001:4ba396af:48260d2e:1c1 (local)
WARNING: Found orphan containers (ros-test_ros-foxy-listener-2_1, ros-test_ros-foxy-listener_1) for this project. If you removed or renamed this service in your compose file, you can run this command with the --remove-orphans flag to clean it up.
Creating ros-test_ros-foxy-talker_1 ... done
Attaching to ros-test_ros-foxy-talker_1
ros-foxy-talker_1  | 1634597981.530638 [0]     talker: config: Domain/General/NetworkInterfaceAddress/#text: auto {}
ros-foxy-talker_1  | 1634597981.530673 [0]     talker: config: Domain/General/MulticastRecvNetworkInterfaceAddresses/#text: preferred {}
ros-foxy-talker_1  | 1634597981.530677 [0]     talker: config: Domain/General/ExternalNetworkAddress/#text: 172.19.131.117 {0}
ros-foxy-talker_1  | 1634597981.530679 [0]     talker: config: Domain/General/ExternalNetworkMask/#text: 0.0.0.0 {}
ros-foxy-talker_1  | 1634597981.530682 [0]     talker: config: Domain/General/AllowMulticast/#text: false {0}
ros-foxy-talker_1  | 1634597981.530683 [0]     talker: config: Domain/General/PreferMulticast/#text: false {}
ros-foxy-talker_1  | 1634597981.530685 [0]     talker: config: Domain/General/MulticastTimeToLive/#text: 32 {}
ros-foxy-talker_1  | 1634597981.530687 [0]     talker: config: Domain/General/DontRoute/#text: false {}
ros-foxy-talker_1  | 1634597981.530689 [0]     talker: config: Domain/General/Transport/#text: udp {}
ros-foxy-talker_1  | 1634597981.530691 [0]     talker: config: Domain/General/EnableMulticastLoopback/#text: true {}
ros-foxy-talker_1  | 1634597981.530693 [0]     talker: config: Domain/General/MaxMessageSize/#text: 14720 B {}
ros-foxy-talker_1  | 1634597981.530695 [0]     talker: config: Domain/General/MaxRexmitMessageSize/#text: 1456 B {}
ros-foxy-talker_1  | 1634597981.530697 [0]     talker: config: Domain/General/FragmentSize/#text: 1344 B {}
ros-foxy-talker_1  | 1634597981.530700 [0]     talker: config: Domain/Sizing/ReceiveBufferSize/#text: 1 MiB {}
ros-foxy-talker_1  | 1634597981.530702 [0]     talker: config: Domain/Sizing/ReceiveBufferChunkSize/#text: 128 KiB {}
ros-foxy-talker_1  | 1634597981.530704 [0]     talker: config: Domain/Compatibility/StandardsConformance/#text: lax {}
ros-foxy-talker_1  | 1634597981.530706 [0]     talker: config: Domain/Compatibility/ExplicitlyPublishQosSetToDefault/#text: false {}
ros-foxy-talker_1  | 1634597981.530708 [0]     talker: config: Domain/Compatibility/ManySocketsMode/#text: single {}
ros-foxy-talker_1  | 1634597981.530709 [0]     talker: config: Domain/Compatibility/AssumeRtiHasPmdEndpoints/#text: false {}
ros-foxy-talker_1  | 1634597981.530711 [0]     talker: config: Domain/Discovery/Tag/#text:  {}
ros-foxy-talker_1  | 1634597981.530713 [0]     talker: config: Domain/Discovery/ExternalDomainId/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530715 [0]     talker: config: Domain/Discovery/DSGracePeriod/#text: 30 s {}
ros-foxy-talker_1  | 1634597981.530718 [0]     talker: config: Domain/Discovery/Peers/Peer[@Address]: 172.19.131.117 {0}
ros-foxy-talker_1  | 1634597981.530720 [0]     talker: config: Domain/Discovery/ParticipantIndex/#text: 1 {0}
ros-foxy-talker_1  | 1634597981.530722 [0]     talker: config: Domain/Discovery/MaxAutoParticipantIndex/#text: 9 {}
ros-foxy-talker_1  | 1634597981.530723 [0]     talker: config: Domain/Discovery/SPDPMulticastAddress/#text: 239.255.0.1 {}
ros-foxy-talker_1  | 1634597981.530725 [0]     talker: config: Domain/Discovery/SPDPInterval/#text: 30 s {}
ros-foxy-talker_1  | 1634597981.530727 [0]     talker: config: Domain/Discovery/DefaultMulticastAddress/#text: auto {}
ros-foxy-talker_1  | 1634597981.530729 [0]     talker: config: Domain/Discovery/Ports/Base/#text: 7400 {}
ros-foxy-talker_1  | 1634597981.530731 [0]     talker: config: Domain/Discovery/Ports/DomainGain/#text: 250 {}
ros-foxy-talker_1  | 1634597981.530733 [0]     talker: config: Domain/Discovery/Ports/ParticipantGain/#text: 2 {}
ros-foxy-talker_1  | 1634597981.530735 [0]     talker: config: Domain/Discovery/Ports/MulticastMetaOffset/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530737 [0]     talker: config: Domain/Discovery/Ports/UnicastMetaOffset/#text: 10 {}
ros-foxy-talker_1  | 1634597981.530738 [0]     talker: config: Domain/Discovery/Ports/MulticastDataOffset/#text: 1 {}
ros-foxy-talker_1  | 1634597981.530742 [0]     talker: config: Domain/Discovery/Ports/UnicastDataOffset/#text: 11 {}
ros-foxy-talker_1  | 1634597981.530748 [0]     talker: config: Domain/Tracing/Category/#text: trace {0}
ros-foxy-talker_1  | 1634597981.530750 [0]     talker: config: Domain/Tracing/OutputFile/#text: stderr {0}
ros-foxy-talker_1  | 1634597981.530752 [0]     talker: config: Domain/Tracing/AppendToFile/#text: false {}
ros-foxy-talker_1  | 1634597981.530753 [0]     talker: config: Domain/Tracing/PacketCaptureFile/#text:  {}
ros-foxy-talker_1  | 1634597981.530755 [0]     talker: config: Domain/Internal/DeliveryQueueMaxSamples/#text: 256 {}
ros-foxy-talker_1  | 1634597981.530757 [0]     talker: config: Domain/Internal/PrimaryReorderMaxSamples/#text: 128 {}
ros-foxy-talker_1  | 1634597981.530759 [0]     talker: config: Domain/Internal/SecondaryReorderMaxSamples/#text: 128 {}
ros-foxy-talker_1  | 1634597981.530761 [0]     talker: config: Domain/Internal/DefragUnreliableMaxSamples/#text: 4 {}
ros-foxy-talker_1  | 1634597981.530762 [0]     talker: config: Domain/Internal/DefragReliableMaxSamples/#text: 16 {}
ros-foxy-talker_1  | 1634597981.530764 [0]     talker: config: Domain/Internal/BuiltinEndpointSet/#text: writers {}
ros-foxy-talker_1  | 1634597981.530766 [0]     talker: config: Domain/Internal/MeasureHbToAckLatency/#text: false {}
ros-foxy-talker_1  | 1634597981.530768 [0]     talker: config: Domain/Internal/UnicastResponseToSPDPMessages/#text: true {}
ros-foxy-talker_1  | 1634597981.530770 [0]     talker: config: Domain/Internal/SynchronousDeliveryPriorityThreshold/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530772 [0]     talker: config: Domain/Internal/SynchronousDeliveryLatencyBound/#text: inf {}
ros-foxy-talker_1  | 1634597981.530774 [0]     talker: config: Domain/Internal/MaxParticipants/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530776 [0]     talker: config: Domain/Internal/AccelerateRexmitBlockSize/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530778 [0]     talker: config: Domain/Internal/RetransmitMerging/#text: never {}
ros-foxy-talker_1  | 1634597981.530780 [0]     talker: config: Domain/Internal/RetransmitMergingPeriod/#text: 5 ms {}
ros-foxy-talker_1  | 1634597981.530783 [0]     talker: config: Domain/Internal/HeartbeatInterval/#text: 100 ms {}
ros-foxy-talker_1  | 1634597981.530786 [0]     talker: config: Domain/Internal/HeartbeatInterval[@min]: 5 ms {}
ros-foxy-talker_1  | 1634597981.530791 [0]     talker: config: Domain/Internal/HeartbeatInterval[@minsched]: 20 ms {}
ros-foxy-talker_1  | 1634597981.530793 [0]     talker: config: Domain/Internal/HeartbeatInterval[@max]: 8 s {}
ros-foxy-talker_1  | 1634597981.530795 [0]     talker: config: Domain/Internal/MaxQueuedRexmitBytes/#text: 512 KiB {}
ros-foxy-talker_1  | 1634597981.530798 [0]     talker: config: Domain/Internal/MaxQueuedRexmitMessages/#text: 200 {}
ros-foxy-talker_1  | 1634597981.530800 [0]     talker: config: Domain/Internal/LeaseDuration/#text: 10 s {}
ros-foxy-talker_1  | 1634597981.530802 [0]     talker: config: Domain/Internal/WriterLingerDuration/#text: 1 s {}
ros-foxy-talker_1  | 1634597981.530804 [0]     talker: config: Domain/Internal/MinimumSocketReceiveBufferSize/#text: default {}
ros-foxy-talker_1  | 1634597981.530806 [0]     talker: config: Domain/Internal/MinimumSocketSendBufferSize/#text: 64 KiB {}
ros-foxy-talker_1  | 1634597981.530830 [0]     talker: config: Domain/Internal/NackDelay/#text: 100 ms {}
ros-foxy-talker_1  | 1634597981.530833 [0]     talker: config: Domain/Internal/AckDelay/#text: 10 ms {}
ros-foxy-talker_1  | 1634597981.530835 [0]     talker: config: Domain/Internal/AutoReschedNackDelay/#text: 1 s {}
ros-foxy-talker_1  | 1634597981.530838 [0]     talker: config: Domain/Internal/PreEmptiveAckDelay/#text: 10 ms {}
ros-foxy-talker_1  | 1634597981.530839 [0]     talker: config: Domain/Internal/ScheduleTimeRounding/#text: 0 s {}
ros-foxy-talker_1  | 1634597981.530841 [0]     talker: config: Domain/Internal/DDSI2DirectMaxThreads/#text: 1 {}
ros-foxy-talker_1  | 1634597981.530843 [0]     talker: config: Domain/Internal/SquashParticipants/#text: false {}
ros-foxy-talker_1  | 1634597981.530845 [0]     talker: config: Domain/Internal/SPDPResponseMaxDelay/#text: 0 s {}
ros-foxy-talker_1  | 1634597981.530847 [0]     talker: config: Domain/Internal/LateAckMode/#text: false {}
ros-foxy-talker_1  | 1634597981.530848 [0]     talker: config: Domain/Internal/RetryOnRejectBestEffort/#text: false {}
ros-foxy-talker_1  | 1634597981.530850 [0]     talker: config: Domain/Internal/GenerateKeyhash/#text: false {}
ros-foxy-talker_1  | 1634597981.530852 [0]     talker: config: Domain/Internal/MaxSampleSize/#text: 2147483647 B {}
ros-foxy-talker_1  | 1634597981.530853 [0]     talker: config: Domain/Internal/WriteBatch/#text: false {}
ros-foxy-talker_1  | 1634597981.530855 [0]     talker: config: Domain/Internal/LivelinessMonitoring/#text: false {}
ros-foxy-talker_1  | 1634597981.530857 [0]     talker: config: Domain/Internal/LivelinessMonitoring[@StackTraces]: true {}
ros-foxy-talker_1  | 1634597981.530859 [0]     talker: config: Domain/Internal/LivelinessMonitoring[@Interval]: 1 s {}
ros-foxy-talker_1  | 1634597981.530861 [0]     talker: config: Domain/Internal/MonitorPort/#text: -1 {}
ros-foxy-talker_1  | 1634597981.530863 [0]     talker: config: Domain/Internal/AssumeMulticastCapable/#text:  {}
ros-foxy-talker_1  | 1634597981.530865 [0]     talker: config: Domain/Internal/PrioritizeRetransmit/#text: true {}
ros-foxy-talker_1  | 1634597981.530866 [0]     talker: config: Domain/Internal/UseMulticastIfMreqn/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530868 [0]     talker: config: Domain/Internal/SendAsync/#text: false {}
ros-foxy-talker_1  | 1634597981.530870 [0]     talker: config: Domain/Internal/RediscoveryBlacklistDuration/#text: 0 s {}
ros-foxy-talker_1  | 1634597981.530872 [0]     talker: config: Domain/Internal/RediscoveryBlacklistDuration[@enforce]: false {}
ros-foxy-talker_1  | 1634597981.530875 [0]     talker: config: Domain/Internal/MultipleReceiveThreads/#text: default {}
ros-foxy-talker_1  | 1634597981.530877 [0]     talker: config: Domain/Internal/MultipleReceiveThreads[@maxretries]: 4294967295 {}
ros-foxy-talker_1  | 1634597981.530879 [0]     talker: config: Domain/Internal/Test/XmitLossiness/#text: 0 {}
ros-foxy-talker_1  | 1634597981.530882 [0]     talker: config: Domain/Internal/Watermarks/WhcLow/#text: 1 KiB {}
ros-foxy-talker_1  | 1634597981.530885 [0]     talker: config: Domain/Internal/Watermarks/WhcHigh/#text: 500 KiB {}
ros-foxy-talker_1  | 1634597981.530887 [0]     talker: config: Domain/Internal/Watermarks/WhcHighInit/#text: 30 KiB {}
ros-foxy-talker_1  | 1634597981.530891 [0]     talker: config: Domain/Internal/Watermarks/WhcAdaptive/#text: true {}
ros-foxy-talker_1  | 1634597981.530893 [0]     talker: config: Domain/Internal/BurstSize/MaxRexmit/#text: 1 MiB {}
ros-foxy-talker_1  | 1634597981.530896 [0]     talker: config: Domain/Internal/BurstSize/MaxInitTransmit/#text: 4294967295 {}
ros-foxy-talker_1  | 1634597981.530898 [0]     talker: config: Domain/Internal/EnableExpensiveChecks/#text:  {}
ros-foxy-talker_1  | 1634597981.530901 [0]     talker: config: Domain/TCP/NoDelay/#text: true {}
ros-foxy-talker_1  | 1634597981.530904 [0]     talker: config: Domain/TCP/Port/#text: -1 {}
ros-foxy-talker_1  | 1634597981.530907 [0]     talker: config: Domain/TCP/ReadTimeout/#text: 2 s {}
ros-foxy-talker_1  | 1634597981.530909 [0]     talker: config: Domain/TCP/WriteTimeout/#text: 2 s {}
ros-foxy-talker_1  | 1634597981.530911 [0]     talker: config: Domain/TCP/AlwaysUsePeeraddrForUnicast/#text: false {}
ros-foxy-talker_1  | 1634597981.530913 [0]     talker: config: Domain/ThreadPool/Enable/#text: false {}
ros-foxy-talker_1  | 1634597981.530915 [0]     talker: config: Domain/ThreadPool/Threads/#text: 4 {}
ros-foxy-talker_1  | 1634597981.530918 [0]     talker: config: Domain/ThreadPool/ThreadMax/#text: 8 {}
ros-foxy-talker_1  | 1634597981.530920 [0]     talker: config: Domain[@Id]: 0 {0}
ros-foxy-talker_1  | 1634597981.530957 [0]     talker: started at 1634597981.06530944 -- 2021-10-18 22:59:41+00:00
ros-foxy-talker_1  | 1634597981.530962 [0]     talker: udp initialized
ros-foxy-talker_1  | 1634597981.531070 [0]     talker: interfaces: lo udp/127.0.0.1(q1) eth0 udp/172.25.0.2(q9)
ros-foxy-talker_1  | 1634597981.531095 [0]     talker: selected interface: eth0 (index 47)
ros-foxy-talker_1  | 1634597981.531110 [0]     talker: ownip: udp/172.25.0.2
ros-foxy-talker_1  | 1634597981.531112 [0]     talker: extip: udp/172.19.131.117
ros-foxy-talker_1  | 1634597981.531113 [0]     talker: extmask: invalid/0
ros-foxy-talker_1  | 1634597981.531114 [0]     talker: SPDP MC: udp/239.255.0.1
ros-foxy-talker_1  | 1634597981.531115 [0]     talker: default MC: udp/239.255.0.1
ros-foxy-talker_1  | 1634597981.531116 [0]     talker: SSM support included
ros-foxy-talker_1  | 1634597981.531159 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
ros-foxy-talker_1  | 1634597981.531168 [0]     talker: ddsi_udp_create_conn unicast socket 4 port 7412
ros-foxy-talker_1  | 1634597981.531171 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
ros-foxy-talker_1  | 1634597981.531174 [0]     talker: ddsi_udp_create_conn unicast socket 5 port 7413
ros-foxy-talker_1  | 1634597981.531175 [0]     talker: rtps_init: uc ports: disc 7412 data 7413
ros-foxy-talker_1  | 1634597981.531176 [0]     talker: rtps_init: domainid 0 participantid 1
ros-foxy-talker_1  | 1634597981.531178 [0]     talker: Unicast Ports: discovery 7412 data 7413
ros-foxy-talker_1  | 1634597981.531181 [0]     talker: failed to increase socket receive buffer size to 1048576 bytes, continuing with 425984 bytes
ros-foxy-talker_1  | 1634597981.531186 [0]     talker: ddsi_udp_create_conn transmit socket 6 port 42954
ros-foxy-talker_1  | 1634597981.531202 [0]     talker: add_peer_addresses: add udp/172.19.131.117:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426
ros-foxy-talker_1  | 1634597981.531227 [0]     talker: create_thread: gc: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531307 [0]     talker: create_thread: dq.builtins: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531354 [0]         gc: started new thread 30: gc
ros-foxy-talker_1  | 1634597981.531407 [0]     talker: create_thread: dq.user: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531501 [0]     talker: new_local_orphan_writer(DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
ros-foxy-talker_1  | 1634597981.531504 [0]         gc: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.531547 [0] dq.builtin: started new thread 31: dq.builtins
ros-foxy-talker_1  | 1634597981.531548 [0]    dq.user: started new thread 32: dq.user
ros-foxy-talker_1  | 1634597981.531557 [0]    dq.user: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.531559 [0] dq.builtin: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.531560 [0]     talker: WRITER 0:0:0:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.531573 [0]     talker: match_writer_with_readers(wr 0:0:0:100c2) scanning all rds of topic DCPSParticipant
ros-foxy-talker_1  | 1634597981.531578 [0]     talker: new_local_orphan_writer(DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
ros-foxy-talker_1  | 1634597981.531591 [0]     talker: WRITER 0:0:0:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.531594 [0]     talker: match_writer_with_readers(wr 0:0:0:3c2) scanning all rds of topic DCPSPublication
ros-foxy-talker_1  | 1634597981.531596 [0]     talker: new_local_orphan_writer(DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
ros-foxy-talker_1  | 1634597981.531604 [0]     talker: WRITER 0:0:0:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.531606 [0]     talker: match_writer_with_readers(wr 0:0:0:4c2) scanning all rds of topic DCPSSubscription
ros-foxy-talker_1  | 1634597981.531613 [0]     talker: create_thread: tev: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531692 [0]     talker: create_thread: recv: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531766 [0]        tev: started new thread 33: tev
ros-foxy-talker_1  | 1634597981.531775 [0]     talker: create_thread: recvUC: class 0 priority 0 stack 0
ros-foxy-talker_1  | 1634597981.531817 [0]       recv: started new thread 34: recv
ros-foxy-talker_1  | 1634597981.531921 [0]     talker: new_participant(bb701001:b1eff8da:2f68f287:1c1, 0)
ros-foxy-talker_1  | 1634597981.531943 [0]     talker: PARTICIPANT bb701001:b1eff8da:2f68f287:1c1 QOS={user_data=10<"enclave=/;">,adlink_entity_factory=0}
ros-foxy-talker_1  | 1634597981.531951 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:100c2, (null).DCPSParticipant/ParticipantBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.531953 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:100c2 @ 0x1392b04) user 1 builtin 1
ros-foxy-talker_1  | 1634597981.531968 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:100c2 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532012 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:100c2) scanning proxy participants tgt=0
ros-foxy-talker_1  | 1634597981.531970 [0]        tev: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.531976 [0]     recvUC: started new thread 35: recvUC
ros-foxy-talker_1  | 1634597981.532144 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:4c2, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.532150 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:4c2 @ 0x137aae4) user 1 builtin 2
ros-foxy-talker_1  | 1634597981.532155 [0]     recvUC: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.531982 [0]       recv: thread_cputime 0.000000000
ros-foxy-talker_1  | 1634597981.532162 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:4c2 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.532172 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:4c2) scanning proxy participants tgt=4c7
ros-foxy-talker_1  | 1634597981.532178 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:3c2, (null).DCPSPublication/PublicationBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.532180 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:3c2 @ 0x154b3e4) user 1 builtin 3
ros-foxy-talker_1  | 1634597981.532189 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:3c2 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.532191 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:3c2) scanning proxy participants tgt=3c7
ros-foxy-talker_1  | 1634597981.532193 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:200c2, (null).DCPSParticipantMessage/ParticipantMessageData)
ros-foxy-talker_1  | 1634597981.532199 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:200c2 @ 0x154ffe4) user 1 builtin 4
ros-foxy-talker_1  | 1634597981.532208 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:200c2 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.532211 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:200c2) scanning proxy participants tgt=200c7
ros-foxy-talker_1  | 1634597981.532214 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:100c7, (null).DCPSParticipant/ParticipantBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.532220 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:100c7 @ 0x1463074) user 1 builtin 5
ros-foxy-talker_1  | 1634597981.532230 [0]     talker: READER bb701001:b1eff8da:2f68f287:100c7 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="ParticipantBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=0:6148914691236517205,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_writer_data_lifecycle=1,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532257 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:100c7) scanning proxy participants tgt=0
ros-foxy-talker_1  | 1634597981.532261 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:4c7, (null).DCPSSubscription/SubscriptionBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.532264 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:4c7 @ 0x1483fa4) user 1 builtin 6
ros-foxy-talker_1  | 1634597981.532274 [0]     talker: READER bb701001:b1eff8da:2f68f287:4c7 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="SubscriptionBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532276 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:4c7) scanning proxy participants tgt=4c2
ros-foxy-talker_1  | 1634597981.532278 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:3c7, (null).DCPSPublication/PublicationBuiltinTopicData)
ros-foxy-talker_1  | 1634597981.532279 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:3c7 @ 0x151ac44) user 1 builtin 7
ros-foxy-talker_1  | 1634597981.532287 [0]     talker: READER bb701001:b1eff8da:2f68f287:3c7 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="PublicationBuiltinTopicData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532289 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:3c7) scanning proxy participants tgt=3c2
ros-foxy-talker_1  | 1634597981.532290 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:200c7, (null).DCPSParticipantMessage/ParticipantMessageData)
ros-foxy-talker_1  | 1634597981.532292 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:200c7 @ 0x130bb14) user 1 builtin 8
ros-foxy-talker_1  | 1634597981.532299 [0]     talker: READER bb701001:b1eff8da:2f68f287:200c7 QOS={user_data=0<>,topic_name="DCPSParticipantMessage",type_name="ParticipantMessageData",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532301 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:200c7) scanning proxy participants tgt=200c2
ros-foxy-talker_1  | 1634597981.532309 [0]     talker: write_sample 0:0:0:100c2 #1: ST0 DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant:(blob)
ros-foxy-talker_1  | 1634597981.532313 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.532316 [0]     talker: spdp_write(bb701001:b1eff8da:2f68f287:1c1)
ros-foxy-talker_1  | 1634597981.532322 [0]     talker: spdp_write(bb701001:b1eff8da:2f68f287:1c1) - internals: 879ccb080172/0.7.0/Linux/Linux
ros-foxy-talker_1  | 1634597981.532351 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:100c2 #1: ST0 DCPSParticipant/ParticipantBuiltinTopicData:{user_data=10<"enclave=/;">,protocol_version=2:1,vendorid=1:16,participant_lease_duration=10000000000,participant_guid={bb701001:b1eff8da:2f68f287:1c1},builtin_endpoint_set=3135,domain_id=0,default_unicast_locator={udp/172.19.131.117:7413},metatraffic_unicast_locator={udp/172.19.131.117:7412},adlink_participant_version_info=0:44:0:0:0:"879ccb080172/0.7.0/Linux/Linux",cyclone_receive_buffer_size=425984}
ros-foxy-talker_1  | 1634597981.532400 [0]     talker: non-timed queue now has 1 items
ros-foxy-talker_1  | 1634597981.532424 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x1462c50 reg?yes refc 2 DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
ros-foxy-talker_1  | 1634597981.532426 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.532427 [0]     talker: create_and_lock_ktopic: ktp 0x124aed0
ros-foxy-talker_1  | 1634597981.532427 [0]        tev: write_sample bb701001:b1eff8da:2f68f287:200c2 #1: ST0 DCPSParticipantMessage/ParticipantMessageData:{bb701001:b1eff8da:2f68f287:1}:1<0>
ros-foxy-talker_1  | 1634597981.532429 [0]     talker: dds_create_topic_generic: reuse sertopic 0x1462c50
ros-foxy-talker_1  | 1634597981.532440 [0]        tev: resched pmd(bb701001:b1eff8da:2f68f287:1c1): 8s
ros-foxy-talker_1  | 1634597981.532441 [0]     talker: dds_create_topic_generic: new topic 223746335
ros-foxy-talker_1  | 1634597981.532454 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:107, __BUILT-IN PARTITION__.DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant)
ros-foxy-talker_1  | 1634597981.532457 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:107 @ 0x1334e04) user 2 builtin 8
ros-foxy-talker_1  | 1634597981.532467 [0]     talker: READER bb701001:b1eff8da:2f68f287:107 QOS={user_data=0<>,topic_name="DCPSParticipant",type_name="org::eclipse::cyclonedds::builtin::DCPSParticipant",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532507 [0]     talker: write_sample 0:0:0:4c2 #1: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.532511 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.532514 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:107) scanning all pwrs of topic DCPSParticipant
ros-foxy-talker_1  | 1634597981.532516 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:107) scanning all wrs of topic DCPSParticipant
ros-foxy-talker_1  | 1634597981.532521 [0]     talker:   reader_add_local_connection(wr 0:0:0:100c2 rd bb701001:b1eff8da:2f68f287:107)
ros-foxy-talker_1  | 1634597981.532529 [0]     talker:   writer_add_local_connection(wr 0:0:0:100c2 rd bb701001:b1eff8da:2f68f287:107)
ros-foxy-talker_1  | 1634597981.532569 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x14c0b30 reg?yes refc 2 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
ros-foxy-talker_1  | 1634597981.532572 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.532475 [0]        tev: xpack_addmsg 0x7f80e8001380 0x12f3300 0(data(0:0:0:0:#0/1)): niov 0 sz 0 => now niov 3 sz 272
ros-foxy-talker_1  | 1634597981.532574 [0]     talker: create_and_lock_ktopic: ktp 0x12931b0
ros-foxy-talker_1  | 1634597981.532585 [0]     talker: dds_create_topic_generic: reuse sertopic 0x14c0b30
ros-foxy-talker_1  | 1634597981.532588 [0]     talker: dds_create_topic_generic: new topic 1831077544
ros-foxy-talker_1  | 1634597981.532596 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:207, __BUILT-IN PARTITION__.DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription)
ros-foxy-talker_1  | 1634597981.532601 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:207 @ 0x1496a14) user 3 builtin 8
ros-foxy-talker_1  | 1634597981.532616 [0]     talker: READER bb701001:b1eff8da:2f68f287:207 QOS={user_data=0<>,topic_name="DCPSSubscription",type_name="org::eclipse::cyclonedds::builtin::DCPSSubscription",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532646 [0]     talker: write_sample 0:0:0:4c2 #2: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.532649 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.532653 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:207) scanning all pwrs of topic DCPSSubscription
ros-foxy-talker_1  | 1634597981.532656 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:207) scanning all wrs of topic DCPSSubscription
ros-foxy-talker_1  | 1634597981.532660 [0]     talker:   reader_add_local_connection(wr 0:0:0:4c2 rd bb701001:b1eff8da:2f68f287:207)
ros-foxy-talker_1  | 1634597981.532669 [0]        tev: nn_xpack_send 272: 0x7f80e800138c:20 0x152f288:36 0x1341a34:216 [ udp/172.19.131.117:7410 udp/172.19.131.117:7412 udp/172.19.131.117:7414 udp/172.19.131.117:7416 udp/172.19.131.117:7418 udp/172.19.131.117:7420 udp/172.19.131.117:7422 udp/172.19.131.117:7424 udp/172.19.131.117:7426 ]
ros-foxy-talker_1  | 1634597981.532672 [0]        tev: traffic-xmit (9) 272
ros-foxy-talker_1  | 1634597981.532672 [0]     talker:   writer_add_local_connection(wr 0:0:0:4c2 rd bb701001:b1eff8da:2f68f287:207)
ros-foxy-talker_1  | 1634597981.532681 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x1513240 reg?yes refc 2 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
ros-foxy-talker_1  | 1634597981.532684 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.532686 [0]     talker: create_and_lock_ktopic: ktp 0x14c9c10
ros-foxy-talker_1  | 1634597981.532692 [0]     talker: dds_create_topic_generic: reuse sertopic 0x1513240
ros-foxy-talker_1  | 1634597981.532696 [0]     talker: dds_create_topic_generic: new topic 538930164
ros-foxy-talker_1  | 1634597981.532705 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:307, __BUILT-IN PARTITION__.DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication)
ros-foxy-talker_1  | 1634597981.532732 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:307 @ 0x1269784) user 4 builtin 8
ros-foxy-talker_1  | 1634597981.532751 [0]     talker: READER bb701001:b1eff8da:2f68f287:307 QOS={user_data=0<>,topic_name="DCPSPublication",type_name="org::eclipse::cyclonedds::builtin::DCPSPublication",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:100000000,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,presentation=1:0:0,partition={"__BUILT-IN PARTITION__"},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.532759 [0]     talker: write_sample 0:0:0:4c2 #3: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.532761 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.532765 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:307) scanning all pwrs of topic DCPSPublication
ros-foxy-talker_1  | 1634597981.532768 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:307) scanning all wrs of topic DCPSPublication
ros-foxy-talker_1  | 1634597981.532772 [0]     talker:   reader_add_local_connection(wr 0:0:0:3c2 rd bb701001:b1eff8da:2f68f287:307)
ros-foxy-talker_1  | 1634597981.532777 [0]     talker:   writer_add_local_connection(wr 0:0:0:3c2 rd bb701001:b1eff8da:2f68f287:307)
ros-foxy-talker_1  | 1634597981.533611 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x14ac040 reg?no refc 1 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
ros-foxy-talker_1  | 1634597981.533638 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.533641 [0]     talker: create_and_lock_ktopic: ktp 0x12471e0
ros-foxy-talker_1  | 1634597981.533645 [0]     talker: dds_create_topic_generic: register new sertopic 0x14ac040
ros-foxy-talker_1  | 1634597981.533649 [0]     talker: dds_create_topic_generic: new topic 1216540915
ros-foxy-talker_1  | 1634597981.533663 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:403, (default).ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
ros-foxy-talker_1  | 1634597981.533666 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:403 @ 0x1551d04) user 5 builtin 8
ros-foxy-talker_1  | 1634597981.533678 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:403 QOS={user_data=0<>,topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.533684 [0]     talker: write_sample 0:0:0:3c2 #1: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.533686 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.533689 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:403) scanning all prds of topic ros_discovery_info
ros-foxy-talker_1  | 1634597981.533692 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:403) scanning all rds of topic ros_discovery_info
ros-foxy-talker_1  | 1634597981.533708 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #1: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",durability=1,reliability=1:9223372036854775807,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:403},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.533790 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x1339880 reg?no refc 1 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
ros-foxy-talker_1  | 1634597981.533813 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: ktp 0x12471e0 reuse
ros-foxy-talker_1  | 1634597981.533817 [0]     talker: dds_create_topic_generic: reuse sertopic 0x14ac040
ros-foxy-talker_1  | 1634597981.533826 [0]     talker: dds_create_topic_generic: new topic 879256299
ros-foxy-talker_1  | 1634597981.533835 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:504, (default).ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_)
ros-foxy-talker_1  | 1634597981.533838 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:504 @ 0x12fa024) user 6 builtin 8
ros-foxy-talker_1  | 1634597981.533848 [0]     talker: READER bb701001:b1eff8da:2f68f287:504 QOS={user_data=0<>,topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",topic_data=0<>,group_data=0<>,durability=1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.533853 [0]     talker: write_sample 0:0:0:4c2 #4: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.533855 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.533858 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:504) scanning all pwrs of topic ros_discovery_info
ros-foxy-talker_1  | 1634597981.533860 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:504) scanning all wrs of topic ros_discovery_info
ros-foxy-talker_1  | 1634597981.533875 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #1: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{topic_name="ros_discovery_info",type_name="rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_",durability=1,reliability=1:9223372036854775807,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:504},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.533981 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #1: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{},{}}}}
ros-foxy-talker_1  | 1634597981.534003 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.535104 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x13ec6c0 reg?no refc 1 rt/rosout/rcl_interfaces::msg::dds_::Log_)
ros-foxy-talker_1  | 1634597981.535127 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.535130 [0]     talker: create_and_lock_ktopic: ktp 0x1249740
ros-foxy-talker_1  | 1634597981.535133 [0]     talker: dds_create_topic_generic: register new sertopic 0x13ec6c0
ros-foxy-talker_1  | 1634597981.535136 [0]     talker: dds_create_topic_generic: new topic 80601024
ros-foxy-talker_1  | 1634597981.535147 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:603, (default).rt/rosout/rcl_interfaces::msg::dds_::Log_)
ros-foxy-talker_1  | 1634597981.535150 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:603 @ 0x1553674) user 7 builtin 8
ros-foxy-talker_1  | 1634597981.535161 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:603 QOS={user_data=0<>,topic_name="rt/rosout",type_name="rcl_interfaces::msg::dds_::Log_",topic_data=0<>,group_data=0<>,durability=1,durability_service=0:0:1000:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=10000000000,destination_order=0,history=0:1000,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.535167 [0]     talker: write_sample 0:0:0:3c2 #2: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.535169 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.535191 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:603) scanning all prds of topic rt/rosout
ros-foxy-talker_1  | 1634597981.535195 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:603) scanning all rds of topic rt/rosout
ros-foxy-talker_1  | 1634597981.535214 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #2: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="rt/rosout",type_name="rcl_interfaces::msg::dds_::Log_",durability=1,durability_service=0:0:1000:-1:-1:-1,reliability=1:9223372036854775807,lifespan=10000000000,history=0:1000,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:603},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.535239 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #2: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.535264 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.569579 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15885f0 reg?no refc 1 rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_)
ros-foxy-talker_1  | 1634597981.569613 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.569617 [0]     talker: create_and_lock_ktopic: ktp 0x1582d50
ros-foxy-talker_1  | 1634597981.569620 [0]     talker: dds_create_topic_generic: register new sertopic 0x15885f0
ros-foxy-talker_1  | 1634597981.569626 [0]     talker: dds_create_topic_generic: new topic 1665565043
ros-foxy-talker_1  | 1634597981.569639 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:703, (default).rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_)
ros-foxy-talker_1  | 1634597981.569643 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:703 @ 0x15551d4) user 8 builtin 8
ros-foxy-talker_1  | 1634597981.569656 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:703 QOS={user_data=0<>,topic_name="rt/parameter_events",type_name="rcl_interfaces::msg::dds_::ParameterEvent_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:1000,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.569665 [0]     talker: write_sample 0:0:0:3c2 #3: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.569667 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.569694 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:703) scanning all prds of topic rt/parameter_events
ros-foxy-talker_1  | 1634597981.569699 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:703) scanning all rds of topic rt/parameter_events
ros-foxy-talker_1  | 1634597981.569719 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #3: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="rt/parameter_events",type_name="rcl_interfaces::msg::dds_::ParameterEvent_",reliability=1:9223372036854775807,history=0:1000,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:703},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.569773 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #3: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.569778 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.570126 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:703 #1: ST0 rt/parameter_events/rcl_interfaces::msg::dds_::ParameterEvent_:{{1634597981,570049100},"/talker",{{"use_sim_time",{1,0,0,0.000000,"",{{}},{{}},{{}},{{}},{{}}}}},{},{}}
ros-foxy-talker_1  | 1634597981.570152 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.570465 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15bfb90 reg?no refc 1 rr/talker/describe_parametersReply/rcl_interfaces::srv::dds_::DescribeParameters_Response_)
ros-foxy-talker_1  | 1634597981.570475 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.570477 [0]     talker: create_and_lock_ktopic: ktp 0x15c2020
ros-foxy-talker_1  | 1634597981.570479 [0]     talker: dds_create_topic_generic: register new sertopic 0x15bfb90
ros-foxy-talker_1  | 1634597981.570482 [0]     talker: dds_create_topic_generic: new topic 816370293
ros-foxy-talker_1  | 1634597981.570489 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15c20d0 reg?no refc 1 rq/talker/describe_parametersRequest/rcl_interfaces::srv::dds_::DescribeParameters_Request_)
ros-foxy-talker_1  | 1634597981.570490 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.570491 [0]     talker: create_and_lock_ktopic: ktp 0x15c2800
ros-foxy-talker_1  | 1634597981.570493 [0]     talker: dds_create_topic_generic: register new sertopic 0x15c20d0
ros-foxy-talker_1  | 1634597981.570494 [0]     talker: dds_create_topic_generic: new topic 1345777606
ros-foxy-talker_1  | 1634597981.570512 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:803, (default).rr/talker/describe_parametersReply/rcl_interfaces::srv::dds_::DescribeParameters_Response_)
ros-foxy-talker_1  | 1634597981.570516 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:803 @ 0x15c3174) user 9 builtin 8
ros-foxy-talker_1  | 1634597981.570527 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:803 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.1;">,topic_name="rr/talker/describe_parametersReply",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.570537 [0]     talker: write_sample 0:0:0:3c2 #4: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.570541 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.570569 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:803) scanning all prds of topic rr/talker/describe_parametersReply
ros-foxy-talker_1  | 1634597981.570596 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:803) scanning all rds of topic rr/talker/describe_parametersReply
ros-foxy-talker_1  | 1634597981.570621 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #4: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.1;">,topic_name="rr/talker/describe_parametersReply",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:803},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.570658 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:904, (default).rq/talker/describe_parametersRequest/rcl_interfaces::srv::dds_::DescribeParameters_Request_)
ros-foxy-talker_1  | 1634597981.570665 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:904 @ 0x155cb04) user 10 builtin 8
ros-foxy-talker_1  | 1634597981.570682 [0]     talker: READER bb701001:b1eff8da:2f68f287:904 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.1;">,topic_name="rq/talker/describe_parametersRequest",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.570709 [0]     talker: write_sample 0:0:0:4c2 #5: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.570712 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.570738 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:904) scanning all pwrs of topic rq/talker/describe_parametersRequest
ros-foxy-talker_1  | 1634597981.570742 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:904) scanning all wrs of topic rq/talker/describe_parametersRequest
ros-foxy-talker_1  | 1634597981.570763 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #2: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.1;">,topic_name="rq/talker/describe_parametersRequest",type_name="rcl_interfaces::srv::dds_::DescribeParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:904},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.570824 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #4: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.570828 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571053 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15ca710 reg?no refc 1 rr/talker/get_parametersReply/rcl_interfaces::srv::dds_::GetParameters_Response_)
ros-foxy-talker_1  | 1634597981.571079 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.571082 [0]     talker: create_and_lock_ktopic: ktp 0x15cd320
ros-foxy-talker_1  | 1634597981.571084 [0]     talker: dds_create_topic_generic: register new sertopic 0x15ca710
ros-foxy-talker_1  | 1634597981.571088 [0]     talker: dds_create_topic_generic: new topic 1462846769
ros-foxy-talker_1  | 1634597981.571097 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15cd620 reg?no refc 1 rq/talker/get_parametersRequest/rcl_interfaces::srv::dds_::GetParameters_Request_)
ros-foxy-talker_1  | 1634597981.571098 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.571099 [0]     talker: create_and_lock_ktopic: ktp 0x15cdd50
ros-foxy-talker_1  | 1634597981.571100 [0]     talker: dds_create_topic_generic: register new sertopic 0x15cd620
ros-foxy-talker_1  | 1634597981.571105 [0]     talker: dds_create_topic_generic: new topic 2011605605
ros-foxy-talker_1  | 1634597981.571117 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:a03, (default).rr/talker/get_parametersReply/rcl_interfaces::srv::dds_::GetParameters_Response_)
ros-foxy-talker_1  | 1634597981.571121 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:a03 @ 0x15ce6e4) user 11 builtin 8
ros-foxy-talker_1  | 1634597981.571133 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:a03 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.2;">,topic_name="rr/talker/get_parametersReply",type_name="rcl_interfaces::srv::dds_::GetParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.571141 [0]     talker: write_sample 0:0:0:3c2 #5: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.571162 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571188 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:a03) scanning all prds of topic rr/talker/get_parametersReply
ros-foxy-talker_1  | 1634597981.571211 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:a03) scanning all rds of topic rr/talker/get_parametersReply
ros-foxy-talker_1  | 1634597981.571236 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #5: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.2;">,topic_name="rr/talker/get_parametersReply",type_name="rcl_interfaces::srv::dds_::GetParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:a03},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.571271 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:b04, (default).rq/talker/get_parametersRequest/rcl_interfaces::srv::dds_::GetParameters_Request_)
ros-foxy-talker_1  | 1634597981.571277 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:b04 @ 0x1584c24) user 12 builtin 8
ros-foxy-talker_1  | 1634597981.571297 [0]     talker: READER bb701001:b1eff8da:2f68f287:b04 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.2;">,topic_name="rq/talker/get_parametersRequest",type_name="rcl_interfaces::srv::dds_::GetParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.571327 [0]     talker: write_sample 0:0:0:4c2 #6: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.571330 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571357 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:b04) scanning all pwrs of topic rq/talker/get_parametersRequest
ros-foxy-talker_1  | 1634597981.571362 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:b04) scanning all wrs of topic rq/talker/get_parametersRequest
ros-foxy-talker_1  | 1634597981.571378 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #3: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.2;">,topic_name="rq/talker/get_parametersRequest",type_name="rcl_interfaces::srv::dds_::GetParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:b04},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.571438 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #5: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.571461 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571643 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15d0500 reg?no refc 1 rr/talker/get_parameter_typesReply/rcl_interfaces::srv::dds_::GetParameterTypes_Response_)
ros-foxy-talker_1  | 1634597981.571666 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.571672 [0]     talker: create_and_lock_ktopic: ktp 0x15d1000
ros-foxy-talker_1  | 1634597981.571675 [0]     talker: dds_create_topic_generic: register new sertopic 0x15d0500
ros-foxy-talker_1  | 1634597981.571678 [0]     talker: dds_create_topic_generic: new topic 241379758
ros-foxy-talker_1  | 1634597981.571686 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15d1300 reg?no refc 1 rq/talker/get_parameter_typesRequest/rcl_interfaces::srv::dds_::GetParameterTypes_Request_)
ros-foxy-talker_1  | 1634597981.571687 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.571689 [0]     talker: create_and_lock_ktopic: ktp 0x15d1b20
ros-foxy-talker_1  | 1634597981.571690 [0]     talker: dds_create_topic_generic: register new sertopic 0x15d1300
ros-foxy-talker_1  | 1634597981.571692 [0]     talker: dds_create_topic_generic: new topic 1580024442
ros-foxy-talker_1  | 1634597981.571705 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:c03, (default).rr/talker/get_parameter_typesReply/rcl_interfaces::srv::dds_::GetParameterTypes_Response_)
ros-foxy-talker_1  | 1634597981.571708 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:c03 @ 0x15d2494) user 13 builtin 8
ros-foxy-talker_1  | 1634597981.571719 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:c03 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.3;">,topic_name="rr/talker/get_parameter_typesReply",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.571725 [0]     talker: write_sample 0:0:0:3c2 #6: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.571726 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571752 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:c03) scanning all prds of topic rr/talker/get_parameter_typesReply
ros-foxy-talker_1  | 1634597981.571756 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:c03) scanning all rds of topic rr/talker/get_parameter_typesReply
ros-foxy-talker_1  | 1634597981.571778 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #6: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.3;">,topic_name="rr/talker/get_parameter_typesReply",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:c03},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.571796 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:d04, (default).rq/talker/get_parameter_typesRequest/rcl_interfaces::srv::dds_::GetParameterTypes_Request_)
ros-foxy-talker_1  | 1634597981.571822 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:d04 @ 0x1555094) user 14 builtin 8
ros-foxy-talker_1  | 1634597981.571840 [0]     talker: READER bb701001:b1eff8da:2f68f287:d04 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.3;">,topic_name="rq/talker/get_parameter_typesRequest",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.571872 [0]     talker: write_sample 0:0:0:4c2 #7: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.571876 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.571902 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:d04) scanning all pwrs of topic rq/talker/get_parameter_typesRequest
ros-foxy-talker_1  | 1634597981.571907 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:d04) scanning all wrs of topic rq/talker/get_parameter_typesRequest
ros-foxy-talker_1  | 1634597981.571934 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #4: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.3;">,topic_name="rq/talker/get_parameter_typesRequest",type_name="rcl_interfaces::srv::dds_::GetParameterTypes_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:d04},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.572035 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #6: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,13,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,12,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.572063 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.572309 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15d4620 reg?no refc 1 rr/talker/list_parametersReply/rcl_interfaces::srv::dds_::ListParameters_Response_)
ros-foxy-talker_1  | 1634597981.572333 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.572337 [0]     talker: create_and_lock_ktopic: ktp 0x15d5600
ros-foxy-talker_1  | 1634597981.572339 [0]     talker: dds_create_topic_generic: register new sertopic 0x15d4620
ros-foxy-talker_1  | 1634597981.572343 [0]     talker: dds_create_topic_generic: new topic 1959823070
ros-foxy-talker_1  | 1634597981.572355 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15d5900 reg?no refc 1 rq/talker/list_parametersRequest/rcl_interfaces::srv::dds_::ListParameters_Request_)
ros-foxy-talker_1  | 1634597981.572357 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.572358 [0]     talker: create_and_lock_ktopic: ktp 0x15d61b0
ros-foxy-talker_1  | 1634597981.572359 [0]     talker: dds_create_topic_generic: register new sertopic 0x15d5900
ros-foxy-talker_1  | 1634597981.572362 [0]     talker: dds_create_topic_generic: new topic 644610674
ros-foxy-talker_1  | 1634597981.572375 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:e03, (default).rr/talker/list_parametersReply/rcl_interfaces::srv::dds_::ListParameters_Response_)
ros-foxy-talker_1  | 1634597981.572379 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:e03 @ 0x15d6b44) user 15 builtin 8
ros-foxy-talker_1  | 1634597981.572395 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:e03 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.4;">,topic_name="rr/talker/list_parametersReply",type_name="rcl_interfaces::srv::dds_::ListParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.572424 [0]     talker: write_sample 0:0:0:3c2 #7: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.572427 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.572452 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:e03) scanning all prds of topic rr/talker/list_parametersReply
ros-foxy-talker_1  | 1634597981.572456 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:e03) scanning all rds of topic rr/talker/list_parametersReply
ros-foxy-talker_1  | 1634597981.572473 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #7: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.4;">,topic_name="rr/talker/list_parametersReply",type_name="rcl_interfaces::srv::dds_::ListParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:e03},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.572484 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:f04, (default).rq/talker/list_parametersRequest/rcl_interfaces::srv::dds_::ListParameters_Request_)
ros-foxy-talker_1  | 1634597981.572488 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:f04 @ 0x15d7bd4) user 16 builtin 8
ros-foxy-talker_1  | 1634597981.572500 [0]     talker: READER bb701001:b1eff8da:2f68f287:f04 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.4;">,topic_name="rq/talker/list_parametersRequest",type_name="rcl_interfaces::srv::dds_::ListParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.572527 [0]     talker: write_sample 0:0:0:4c2 #8: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.572530 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.572552 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:f04) scanning all pwrs of topic rq/talker/list_parametersRequest
ros-foxy-talker_1  | 1634597981.572556 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:f04) scanning all wrs of topic rq/talker/list_parametersRequest
ros-foxy-talker_1  | 1634597981.572572 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #5: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.4;">,topic_name="rq/talker/list_parametersRequest",type_name="rcl_interfaces::srv::dds_::ListParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:f04},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.572652 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #7: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,15,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,14,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.572721 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.573212 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15d9740 reg?no refc 1 rr/talker/set_parametersReply/rcl_interfaces::srv::dds_::SetParameters_Response_)
ros-foxy-talker_1  | 1634597981.573248 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.573253 [0]     talker: create_and_lock_ktopic: ktp 0x15da250
ros-foxy-talker_1  | 1634597981.573275 [0]     talker: dds_create_topic_generic: register new sertopic 0x15d9740
ros-foxy-talker_1  | 1634597981.573281 [0]     talker: dds_create_topic_generic: new topic 591165988
ros-foxy-talker_1  | 1634597981.573338 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15da550 reg?no refc 1 rq/talker/set_parametersRequest/rcl_interfaces::srv::dds_::SetParameters_Request_)
ros-foxy-talker_1  | 1634597981.573339 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.573343 [0]     talker: create_and_lock_ktopic: ktp 0x15dcff0
ros-foxy-talker_1  | 1634597981.573345 [0]     talker: dds_create_topic_generic: register new sertopic 0x15da550
ros-foxy-talker_1  | 1634597981.573347 [0]     talker: dds_create_topic_generic: new topic 1824916435
ros-foxy-talker_1  | 1634597981.573365 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:1003, (default).rr/talker/set_parametersReply/rcl_interfaces::srv::dds_::SetParameters_Response_)
ros-foxy-talker_1  | 1634597981.573395 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:1003 @ 0x15ddaa4) user 17 builtin 8
ros-foxy-talker_1  | 1634597981.573456 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:1003 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.5;">,topic_name="rr/talker/set_parametersReply",type_name="rcl_interfaces::srv::dds_::SetParameters_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.573493 [0]     talker: write_sample 0:0:0:3c2 #8: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.573500 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.573535 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:1003) scanning all prds of topic rr/talker/set_parametersReply
ros-foxy-talker_1  | 1634597981.573611 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:1003) scanning all rds of topic rr/talker/set_parametersReply
ros-foxy-talker_1  | 1634597981.573744 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #8: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.5;">,topic_name="rr/talker/set_parametersReply",type_name="rcl_interfaces::srv::dds_::SetParameters_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:1003},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.573801 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:1104, (default).rq/talker/set_parametersRequest/rcl_interfaces::srv::dds_::SetParameters_Request_)
ros-foxy-talker_1  | 1634597981.573807 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:1104 @ 0x15df1e4) user 18 builtin 8
ros-foxy-talker_1  | 1634597981.573824 [0]     talker: READER bb701001:b1eff8da:2f68f287:1104 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.5;">,topic_name="rq/talker/set_parametersRequest",type_name="rcl_interfaces::srv::dds_::SetParameters_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.573856 [0]     talker: write_sample 0:0:0:4c2 #9: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.573859 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.573965 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:1104) scanning all pwrs of topic rq/talker/set_parametersRequest
ros-foxy-talker_1  | 1634597981.573995 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:1104) scanning all wrs of topic rq/talker/set_parametersRequest
ros-foxy-talker_1  | 1634597981.574025 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #6: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.5;">,topic_name="rq/talker/set_parametersRequest",type_name="rcl_interfaces::srv::dds_::SetParameters_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:1104},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.574023 [0]         gc: gc 0x15aa080: deleting
ros-foxy-talker_1  | 1634597981.574199 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #8: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,17,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,16,3,0,0,0,0,0,0,0,0}}}}}}}
ros-foxy-talker_1  | 1634597981.574236 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.574967 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15e0560 reg?no refc 1 rr/talker/set_parameters_atomicallyReply/rcl_interfaces::srv::dds_::SetParametersAtomically_Response_)
ros-foxy-talker_1  | 1634597981.575011 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.575015 [0]     talker: create_and_lock_ktopic: ktp 0x15e0f40
ros-foxy-talker_1  | 1634597981.575018 [0]     talker: dds_create_topic_generic: register new sertopic 0x15e0560
ros-foxy-talker_1  | 1634597981.575022 [0]     talker: dds_create_topic_generic: new topic 1503341121
ros-foxy-talker_1  | 1634597981.575067 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15e1b50 reg?no refc 1 rq/talker/set_parameters_atomicallyRequest/rcl_interfaces::srv::dds_::SetParametersAtomically_Request_)
ros-foxy-talker_1  | 1634597981.575069 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.575070 [0]     talker: create_and_lock_ktopic: ktp 0x15e1bb0
ros-foxy-talker_1  | 1634597981.575071 [0]     talker: dds_create_topic_generic: register new sertopic 0x15e1b50
ros-foxy-talker_1  | 1634597981.575073 [0]     talker: dds_create_topic_generic: new topic 982108798
ros-foxy-talker_1  | 1634597981.575090 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:1203, (default).rr/talker/set_parameters_atomicallyReply/rcl_interfaces::srv::dds_::SetParametersAtomically_Response_)
ros-foxy-talker_1  | 1634597981.575095 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:1203 @ 0x15e50c4) user 19 builtin 8
ros-foxy-talker_1  | 1634597981.575107 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:1203 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.6;">,topic_name="rr/talker/set_parameters_atomicallyReply",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Response_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,lifespan=9223372036854775807,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=1}
ros-foxy-talker_1  | 1634597981.575138 [0]     talker: write_sample 0:0:0:3c2 #9: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.575141 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.575191 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:1203) scanning all prds of topic rr/talker/set_parameters_atomicallyReply
ros-foxy-talker_1  | 1634597981.575239 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:1203) scanning all rds of topic rr/talker/set_parameters_atomicallyReply
ros-foxy-talker_1  | 1634597981.575263 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #9: ST0 DCPSPublication/PublicationBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.6;">,topic_name="rr/talker/set_parameters_atomicallyReply",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Response_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:1203},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.575278 [0]     talker: new_reader(guid bb701001:b1eff8da:2f68f287:1304, (default).rq/talker/set_parameters_atomicallyRequest/rcl_interfaces::srv::dds_::SetParametersAtomically_Request_)
ros-foxy-talker_1  | 1634597981.575282 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:1304 @ 0x15d8b64) user 20 builtin 8
ros-foxy-talker_1  | 1634597981.575293 [0]     talker: READER bb701001:b1eff8da:2f68f287:1304 QOS={user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.6;">,topic_name="rq/talker/set_parameters_atomicallyRequest",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Request_",topic_data=0<>,group_data=0<>,durability=0,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:1000000000,destination_order=0,history=1:-1,resource_limits=-1:-1:-1,ownership=0,presentation=0:0:0,partition={},time_based_filter=0,transport_priority=0,adlink_entity_factory=1,adlink_reader_lifespan=0:9223372036854775807,adlink_reader_data_lifecycle=9223372036854775807:9223372036854775807,adlink_subscription_keys=0:{}}
ros-foxy-talker_1  | 1634597981.575319 [0]     talker: write_sample 0:0:0:4c2 #10: ST0 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
ros-foxy-talker_1  | 1634597981.575320 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.575375 [0]     talker: match_reader_with_proxy_writers(rd bb701001:b1eff8da:2f68f287:1304) scanning all pwrs of topic rq/talker/set_parameters_atomicallyRequest
ros-foxy-talker_1  | 1634597981.575399 [0]     talker: match_reader_with_writers(rd bb701001:b1eff8da:2f68f287:1304) scanning all wrs of topic rq/talker/set_parameters_atomicallyRequest
ros-foxy-talker_1  | 1634597981.575420 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:4c2 #7: ST0 DCPSSubscription/SubscriptionBuiltinTopicData:{user_data=53<"serviceid=bb.70.10.1.b1.ef.f8.da.2f.68.f2.87.0.0.0.6;">,topic_name="rq/talker/set_parameters_atomicallyRequest",type_name="rcl_interfaces::srv::dds_::SetParametersAtomically_Request_",reliability=1:1000000000,history=1:-1,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:1304},adlink_entity_factory=1}
ros-foxy-talker_1  | 1634597981.575555 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #9: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,19,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,
ros-foxy-talker_1  | 1634597981.575630 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.578149 [0]     talker: dds_create_topic_generic (pp 0x14b9c20 bb701001:b1eff8da:2f68f287:1c1 sertopic 0x15e90c0 reg?no refc 1 rt/chatter/std_msgs::msg::dds_::String_)
ros-foxy-talker_1  | 1634597981.578230 [0]     talker: lookup_and_check_ktopic_may_unlock_pp: no such ktopic
ros-foxy-talker_1  | 1634597981.578235 [0]     talker: create_and_lock_ktopic: ktp 0x15e9140
ros-foxy-talker_1  | 1634597981.578238 [0]     talker: dds_create_topic_generic: register new sertopic 0x15e90c0
ros-foxy-talker_1  | 1634597981.578244 [0]     talker: dds_create_topic_generic: new topic 1236378541
ros-foxy-talker_1  | 1634597981.578256 [0]     talker: new_writer(guid bb701001:b1eff8da:2f68f287:1403, (default).rt/chatter/std_msgs::msg::dds_::String_)
ros-foxy-talker_1  | 1634597981.578261 [0]     talker: ref_participant(bb701001:b1eff8da:2f68f287:1c1 @ 0x14c3b90 <- bb701001:b1eff8da:2f68f287:1403 @ 0x15eca74) user 21 builtin 8
ros-foxy-talker_1  | 1634597981.578277 [0]     talker: WRITER bb701001:b1eff8da:2f68f287:1403 QOS={user_data=0<>,topic_name="rt/chatter",type_name="std_msgs::msg::dds_::String_",topic_data=0<>,group_data=0<>,durability=0,durability_service=0:0:1:-1:-1:-1,deadline=9223372036854775807,latency_budget=0,liveliness=0:9223372036854775807,reliability=1:9223372036854775807,lifespan=9223372036854775807,destination_order=0,history=0:10,resource_limits=-1:-1:-1,ownership=0,ownership_strength=0,presentation=0:0:0,partition={},transport_priority=0,adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.578288 [0]     talker: write_sample 0:0:0:3c2 #10: ST0 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
ros-foxy-talker_1  | 1634597981.578289 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.578339 [0]     talker: match_writer_with_proxy_readers(wr bb701001:b1eff8da:2f68f287:1403) scanning all prds of topic rt/chatter
ros-foxy-talker_1  | 1634597981.578392 [0]     talker: match_writer_with_readers(wr bb701001:b1eff8da:2f68f287:1403) scanning all rds of topic rt/chatter
ros-foxy-talker_1  | 1634597981.578420 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:3c2 #10: ST0 DCPSPublication/PublicationBuiltinTopicData:{topic_name="rt/chatter",type_name="std_msgs::msg::dds_::String_",reliability=1:9223372036854775807,history=0:10,protocol_version=2:1,vendorid=1:16,endpoint_guid={bb701001:b1eff8da:2f68f287:1403},adlink_entity_factory=1,adlink_writer_data_lifecycle=0}
ros-foxy-talker_1  | 1634597981.578514 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:403 #10: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","talker",{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,19,4,0,0,0,0,0,0,0,0}}}},{{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,7,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,135,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{187,112,16,1,177,239,248,218,47,104,242,
ros-foxy-talker_1  | 1634597981.578540 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597981.632566 [0]        tev: non-timed queue now has 1 items
ros-foxy-talker_1  | 1634597981.632606 [0]        tev: xmit spdp bb701001:b1eff8da:2f68f287:1c1 to 0:0:0:100c7 (resched 8s)
ros-foxy-talker_1  | 1634597981.632613 [0]        tev: xpack_addmsg 0x7f80e8001380 0x12f3300 0(data(0:0:0:0:#0/1)): niov 0 sz 0 => now niov 3 sz 272
ros-foxy-talker_1  | 1634597981.632686 [0]        tev: nn_xpack_send 272: 0x7f80e800138c:20 0x152f288:36 0x1341a34:216 [ udp/172.19.131.117:7410 udp/172.19.131.117:7412 udp/172.19.131.117:7414 udp/172.19.131.117:7416 udp/172.19.131.117:7418 udp/172.19.131.117:7420 udp/172.19.131.117:7422 udp/172.19.131.117:7424 udp/172.19.131.117:7426 ]
ros-foxy-talker_1  | 1634597981.632689 [0]        tev: traffic-xmit (9) 272
ros-foxy-talker_1  | [INFO] [1634597982.606876100] [talker]: Publishing: "Hello World: 0"
ros-foxy-talker_1  | 1634597982.606937 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:603 #1: ST0 rt/rosout/rcl_interfaces::msg::dds_::Log_:{{1634597982,606876100},20,"talker","Publishing: "Hello World: 0"","/opt/ros/foxy/lib/python3.8/site-packages/demo_nodes_py/topics/talker.py","timer_callback",34}
ros-foxy-talker_1  | 1634597982.606953 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597982.607011 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:1403 #1: ST0 rt/chatter/std_msgs::msg::dds_::String_:{"Hello World: 0"}
ros-foxy-talker_1  | 1634597982.607046 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | [INFO] [1634597983.579852500] [talker]: Publishing: "Hello World: 1"
ros-foxy-talker_1  | 1634597983.579955 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:603 #2: ST0 rt/rosout/rcl_interfaces::msg::dds_::Log_:{{1634597983,579852500},20,"talker","Publishing: "Hello World: 1"","/opt/ros/foxy/lib/python3.8/site-packages/demo_nodes_py/topics/talker.py","timer_callback",34}
ros-foxy-talker_1  | 1634597983.579969 [0]     talker:  => EVERYONE
ros-foxy-talker_1  | 1634597983.580025 [0]     talker: write_sample bb701001:b1eff8da:2f68f287:1403 #2: ST0 rt/chatter/std_msgs::msg::dds_::String_:{"Hello World: 1"}
ros-foxy-talker_1  | 1634597983.580029 [0]     talker:  => EVERYONE
^CGracefully stopping... (press Ctrl+C again to force)
1634597983.864435 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #11: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,
1634597983.864471 [0]   listener:  => EVERYONE
1634597983.864480 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:703) ...
1634597983.864482 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:703) state transition 0 -> 1
1634597983.864486 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:703) ...
1634597983.864488 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:703) - no unack'ed samples
1634597983.864490 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:703) ...
1634597983.864504 [0]   listener: write_sample 0:0:0:3c2 #10: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.864532 [0]   listener:  => EVERYONE
1634597983.864587 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:703) state transition 1 -> 3
1634597983.864625 [0]         gc: gc 0x1d91ce0: deleting
1634597983.864654 [0]         gc: gc_delete_writer(0x1d91ce0, 2711001:4ba396af:48260d2e:703)
1634597983.864713 [0]        tev: thread_cputime 0.000000000
1634597983.864723 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #10: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:703}}
1634597983.864834 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:703 @ 0x1cec574) user 20 builtin 8
1634597983.864843 [0]         gc: thread_cputime 0.000000000
1634597983.864868 [0]         gc: gc 0x1d91ce0: deleting
1634597983.865051 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #12: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,9,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,8,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,
1634597983.865087 [0]   listener:  => EVERYONE
1634597983.865117 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:1404) ...
1634597983.865148 [0]   listener: write_sample 0:0:0:4c2 #12: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.865173 [0]   listener:  => EVERYONE
1634597983.865251 [0]         gc: gc 0x1db56e0: deleting
1634597983.865277 [0]         gc: gc_delete_reader(0x1db56e0, 2711001:4ba396af:48260d2e:1404)
1634597983.865310 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #9: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:1404}}
1634597983.865356 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1404 @ 0x1e18ce4) user 19 builtin 8
1634597983.865379 [0]         gc: gc 0x1db56e0: deleting
1634597983.865468 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #13: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,11,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,10,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.865499 [0]   listener:  => EVERYONE
1634597983.865531 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:904) ...
1634597983.865564 [0]   listener: write_sample 0:0:0:4c2 #13: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.865615 [0]   listener:  => EVERYONE
1634597983.865702 [0]         gc: gc 0x1db5910: deleting
1634597983.865737 [0]         gc: gc_delete_reader(0x1db5910, 2711001:4ba396af:48260d2e:904)
1634597983.865784 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #10: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:904}}
1634597983.865842 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:904 @ 0x1df0634) user 18 builtin 8
1634597983.865889 [0]         gc: gc 0x1db5910: not yet, shortsleep
1634597983.865860 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:803) ...
1634597983.865945 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:803) state transition 0 -> 1
1634597983.865974 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:803) ...
1634597983.865980 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:803) - no unack'ed samples
1634597983.865982 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:803) ...
1634597983.865991 [0]   listener: write_sample 0:0:0:3c2 #11: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.865994 [0]   listener:  => EVERYONE
1634597983.866027 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:803) state transition 1 -> 3
1634597983.867050 [0]         gc: gc 0x1db5910: deleting
1634597983.867077 [0]         gc: gc 0x1db5b40: deleting
1634597983.867081 [0]         gc: gc_delete_writer(0x1db5b40, 2711001:4ba396af:48260d2e:803)
1634597983.867137 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #11: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:803}}
1634597983.867198 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:803 @ 0x1def564) user 17 builtin 8
1634597983.867229 [0]         gc: gc 0x1db5b40: deleting
1634597983.867359 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #14: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,13,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,12,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.867399 [0]   listener:  => EVERYONE
1634597983.867448 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:b04) ...
1634597983.867483 [0]   listener: write_sample 0:0:0:4c2 #14: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.867514 [0]   listener:  => EVERYONE
1634597983.867602 [0]         gc: gc 0x1ded900: deleting
1634597983.867647 [0]         gc: gc_delete_reader(0x1ded900, 2711001:4ba396af:48260d2e:b04)
1634597983.867672 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #11: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:b04}}
1634597983.867720 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:b04 @ 0x1dfbeb4) user 16 builtin 8
1634597983.867740 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:a03) ...
1634597983.867747 [0]         gc: gc 0x1ded900: not yet, shortsleep
1634597983.867747 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:a03) state transition 0 -> 1
1634597983.867803 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:a03) ...
1634597983.867834 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:a03) - no unack'ed samples
1634597983.867863 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:a03) ...
1634597983.867920 [0]   listener: write_sample 0:0:0:3c2 #12: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.867942 [0]   listener:  => EVERYONE
1634597983.867967 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:a03) state transition 1 -> 3
1634597983.868849 [0]         gc: gc 0x1ded900: deleting
1634597983.868875 [0]         gc: gc 0x1dfa610: deleting
1634597983.868899 [0]         gc: gc_delete_writer(0x1dfa610, 2711001:4ba396af:48260d2e:a03)
1634597983.868953 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #12: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:a03}}
1634597983.869006 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:a03 @ 0x1dfaef4) user 15 builtin 8
1634597983.869032 [0]         gc: gc 0x1dfa610: deleting
1634597983.869138 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #15: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,15,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,14,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.869176 [0]   listener:  => EVERYONE
1634597983.869209 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:d04) ...
1634597983.869255 [0]   listener: write_sample 0:0:0:4c2 #15: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.869302 [0]   listener:  => EVERYONE
1634597983.869395 [0]         gc: gc 0x1df9be0: deleting
1634597983.869424 [0]         gc: gc_delete_reader(0x1df9be0, 2711001:4ba396af:48260d2e:d04)
1634597983.869465 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #12: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:d04}}
1634597983.869522 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:d04 @ 0x1dffdc4) user 14 builtin 8
1634597983.869576 [0]         gc: gc 0x1dfa610: not yet, shortsleep
1634597983.869540 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:c03) ...
1634597983.869651 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:c03) state transition 0 -> 1
1634597983.869705 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:c03) ...
1634597983.869732 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:c03) - no unack'ed samples
1634597983.869753 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:c03) ...
1634597983.869766 [0]   listener: write_sample 0:0:0:3c2 #13: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.869790 [0]   listener:  => EVERYONE
1634597983.869816 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:c03) state transition 1 -> 3
1634597983.870696 [0]         gc: gc 0x1dfa610: deleting
1634597983.870725 [0]         gc: gc 0x1e009b0: deleting
1634597983.870751 [0]         gc: gc_delete_writer(0x1e009b0, 2711001:4ba396af:48260d2e:c03)
1634597983.870793 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #13: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:c03}}
1634597983.870843 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:c03 @ 0x1dfee44) user 13 builtin 8
1634597983.870908 [0]         gc: gc 0x1dfa610: deleting
1634597983.870986 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #16: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,17,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,16,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.871016 [0]   listener:  => EVERYONE
1634597983.871059 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:f04) ...
1634597983.871092 [0]   listener: write_sample 0:0:0:4c2 #16: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.871115 [0]   listener:  => EVERYONE
1634597983.871189 [0]         gc: gc 0x1df9be0: deleting
1634597983.871223 [0]         gc: gc_delete_reader(0x1df9be0, 2711001:4ba396af:48260d2e:f04)
1634597983.871253 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #13: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:f04}}
1634597983.871303 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:f04 @ 0x1e043d4) user 12 builtin 8
1634597983.871317 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:e03) ...
1634597983.871396 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:e03) state transition 0 -> 1
1634597983.871460 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:e03) ...
1634597983.871348 [0]         gc: gc 0x1dfa610: not yet, shortsleep
1634597983.871508 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:e03) - no unack'ed samples
1634597983.871569 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:e03) ...
1634597983.871622 [0]   listener: write_sample 0:0:0:3c2 #14: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.871648 [0]   listener:  => EVERYONE
1634597983.871709 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:e03) state transition 1 -> 3
1634597983.872635 [0]         gc: gc 0x1dfa610: deleting
1634597983.872679 [0]         gc: gc 0x1dfe580: deleting
1634597983.872770 [0]         gc: gc_delete_writer(0x1dfe580, 2711001:4ba396af:48260d2e:e03)
1634597983.872844 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #14: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:e03}}
1634597983.872925 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:e03 @ 0x1e03544) user 11 builtin 8
1634597983.872958 [0]         gc: gc 0x1dfa610: deleting
1634597983.873064 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #17: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,19,4,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,18,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.873097 [0]   listener:  => EVERYONE
1634597983.873112 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:1104) ...
1634597983.873152 [0]   listener: write_sample 0:0:0:4c2 #17: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.873178 [0]   listener:  => EVERYONE
1634597983.873269 [0]         gc: gc 0x1e009b0: deleting
1634597983.873313 [0]         gc: gc_delete_reader(0x1e009b0, 2711001:4ba396af:48260d2e:1104)
1634597983.873352 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #14: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:1104}}
1634597983.873410 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1104 @ 0x1e0b564) user 10 builtin 8
1634597983.873441 [0]         gc: gc 0x1dfa610: deleting
1634597983.873445 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:1003) ...
1634597983.873503 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:1003) state transition 0 -> 1
1634597983.873527 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:1003) ...
1634597983.873531 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:1003) - no unack'ed samples
1634597983.873561 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:1003) ...
1634597983.873617 [0]   listener: write_sample 0:0:0:3c2 #15: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.873647 [0]   listener:  => EVERYONE
1634597983.873701 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:1003) state transition 1 -> 3
1634597983.873757 [0]         gc: gc 0x1dfda60: deleting
1634597983.873788 [0]         gc: gc_delete_writer(0x1dfda60, 2711001:4ba396af:48260d2e:1003)
1634597983.873845 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #15: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:1003}}
1634597983.873898 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1003 @ 0x1e09e24) user 9 builtin 8
1634597983.873924 [0]         gc: gc 0x1dfa610: deleting
1634597983.873995 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #18: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,6,3,0,0,0,0,0,0,0,0}}}}}}}
1634597983.874023 [0]   listener:  => EVERYONE
1634597983.874031 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:1304) ...
1634597983.874057 [0]   listener: write_sample 0:0:0:4c2 #18: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.874062 [0]   listener:  => EVERYONE
1634597983.874133 [0]         gc: gc 0x1e04fa0: deleting
1634597983.874163 [0]         gc: gc_delete_reader(0x1e04fa0, 2711001:4ba396af:48260d2e:1304)
1634597983.874181 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #15: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:1304}}
1634597983.874230 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1304 @ 0x1e05324) user 8 builtin 8
1634597983.874260 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:1203) ...
1634597983.874267 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:1203) state transition 0 -> 1
1634597983.874317 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:1203) ...
1634597983.874359 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:1203) - no unack'ed samples
1634597983.874394 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:1203) ...
1634597983.874439 [0]   listener: write_sample 0:0:0:3c2 #16: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.874461 [0]   listener:  => EVERYONE
1634597983.874487 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:1203) state transition 1 -> 3
1634597983.874259 [0]         gc: gc 0x1dfa610: not yet, shortsleep
1634597983.875685 [0]         gc: gc 0x1dfa610: deleting
1634597983.875797 [0]         gc: gc 0x1df9be0: deleting
1634597983.875834 [0]         gc: gc_delete_writer(0x1df9be0, 2711001:4ba396af:48260d2e:1203)
1634597983.875978 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #16: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:1203}}
1634597983.876055 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:1203 @ 0x1e11194) user 7 builtin 8
1634597983.876130 [0]         gc: gc 0x1dfa610: deleting
1634597983.876400 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #19: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{{"/","listener",{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,20,4,0,0,0,0,0,0,0,0}}}},{}}}}
1634597983.876453 [0]   listener:  => EVERYONE
1634597983.876510 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:603) ...
1634597983.876513 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:603) state transition 0 -> 1
1634597983.876517 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:603) ...
1634597983.876520 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:603) - no unack'ed samples
1634597983.876522 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:603) ...
1634597983.876542 [0]   listener: write_sample 0:0:0:3c2 #17: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.876578 [0]   listener:  => EVERYONE
1634597983.876654 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:603) state transition 1 -> 3
Stopping ros-test_ros-foxy-talker_1 ...
1634597983.876719 [0]         gc: gc 0x1e020b0: deleting
1634597983.876742 [0]         gc: gc_delete_writer(0x1e020b0, 2711001:4ba396af:48260d2e:603)
1634597983.876860 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #17: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:603}}
1634597983.876974 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:603 @ 0x1d7ee14) user 6 builtin 8
1634597983.877005 [0]         gc: gc 0x1dfa610: deleting
1634597983.877023 [0]   listener: write_sample 2711001:4ba396af:48260d2e:403 #20: ST0 ros_discovery_info/rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_:{{{{2,113,16,1,75,163,150,175,72,38,13,46,0,0,1,193,0,0,0,0,0,0,0,0}}},{}}
1634597983.877073 [0]   listener:  => EVERYONE
1634597983.877247 [0]   listener: unblock_throttled_writer(guid 2711001:4ba396af:48260d2e:403) ...
1634597983.877274 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:403) state transition 0 -> 1
1634597983.877301 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:403) ...
1634597983.877308 [0]   listener: delete_writer(guid 2711001:4ba396af:48260d2e:403) - no unack'ed samples
1634597983.877328 [0]   listener: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:403) ...
1634597983.877341 [0]   listener: write_sample 0:0:0:3c2 #18: ST3 DCPSPublication/org::eclipse::cyclonedds::builtin::DCPSPublication:(blob)
1634597983.877367 [0]   listener:  => EVERYONE
1634597983.877406 [0]   listener: writer_set_state(2711001:4ba396af:48260d2e:403) state transition 1 -> 3
1634597983.877511 [0]         gc: gc 0x1e0c130: deleting
1634597983.877550 [0]         gc: gc_delete_writer(0x1e0c130, 2711001:4ba396af:48260d2e:403)
1634597983.877719 [0]         gc: write_sample 2711001:4ba396af:48260d2e:3c2 #18: ST3 DCPSPublication/PublicationBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:403}}
1634597983.877822 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:403 @ 0x1d7d004) user 5 builtin 8
1634597983.877847 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:504) ...
1634597983.877893 [0]   listener: write_sample 0:0:0:4c2 #19: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.877949 [0]   listener:  => EVERYONE
1634597983.878069 [0]         gc: gc 0x1e009b0: deleting
1634597983.878096 [0]         gc: gc_delete_reader(0x1e009b0, 2711001:4ba396af:48260d2e:504)
1634597983.878110 [0]         gc: write_sample 2711001:4ba396af:48260d2e:4c2 #16: ST3 DCPSSubscription/SubscriptionBuiltinTopicData:{endpoint_guid={2711001:4ba396af:48260d2e:504}}
1634597983.878186 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:504 @ 0x1d7d554) user 4 builtin 8
1634597983.878210 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:107) ...
1634597983.878249 [0]   listener: write_sample 0:0:0:4c2 #20: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.878253 [0]   listener:  => EVERYONE
1634597983.878338 [0]         gc: gc 0x1e09540: deleting
1634597983.878366 [0]         gc: gc_delete_reader(0x1e09540, 2711001:4ba396af:48260d2e:107)
1634597983.878427 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:107 @ 0x1ab87c4) user 3 builtin 8
1634597983.878442 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:207) ...
1634597983.878509 [0]   listener: write_sample 0:0:0:4c2 #21: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.878537 [0]   listener:  => EVERYONE
1634597983.878621 [0]         gc: gc 0x1dfda60: deleting
1634597983.878652 [0]         gc: gc_delete_reader(0x1dfda60, 2711001:4ba396af:48260d2e:207)
1634597983.878733 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:207 @ 0x1b3ad54) user 2 builtin 8
1634597983.878757 [0]   listener: delete_reader_guid(guid 2711001:4ba396af:48260d2e:307) ...
1634597983.878816 [0]   listener: write_sample 0:0:0:4c2 #22: ST3 DCPSSubscription/org::eclipse::cyclonedds::builtin::DCPSSubscription:(blob)
1634597983.878865 [0]   listener:  => EVERYONE
1634597983.878821 [0]         gc: gc 0x1e06980: deleting
1634597983.878947 [0]         gc: gc 0x1e04fa0: deleting
1634597983.878954 [0]         gc: gc 0x1dfa610: deleting
1634597983.878957 [0]         gc: gc 0x1e107b0: deleting
1634597983.878960 [0]         gc: gc_delete_reader(0x1e107b0, 2711001:4ba396af:48260d2e:307)
1634597983.879028 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:307 @ 0x1b471b4) user 1 builtin 8
1634597983.879063 [0]         gc: gc 0x1df9be0: deleting
1634597983.879064 [0]   listener: delete_participant(2711001:4ba396af:48260d2e:1c1)
1634597983.879097 [0]         gc: gc 0x1e06980: not yet, shortsleep
1634597983.879167 [0]   listener: write_sample 0:0:0:100c2 #2: ST3 DCPSParticipant/org::eclipse::cyclonedds::builtin::DCPSParticipant:(blob)
1634597983.879244 [0]   listener:  => EVERYONE
1634597983.879301 [0]   listener: trigger_recv_threads: 0 many 0x1ca6420
1634597983.879325 [0]   listener: trigger_recv_threads: 1 single 1/172.19.131.117:7411
1634597983.879590 [0] dq.builtin: thread_cputime 0.000000000
1634597983.880282 [0]         gc: gc 0x1e06980: deleting
1634597983.880308 [0]         gc: gc 0x1e0dbb0: deleting
1634597983.880415 [0]         gc: gc_delete_participant(0x1e0dbb0, 2711001:4ba396af:48260d2e:1c1)
1634597983.880460 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 0:0:0:0 @ (nil)) user 0 builtin 8
1634597983.880504 [0]         gc: write_sample 2711001:4ba396af:48260d2e:100c2 #2: ST3 DCPSParticipant/ParticipantBuiltinTopicData:{participant_guid={2711001:4ba396af:48260d2e:1c1}}
1634597983.880586 [0]         gc: non-timed queue now has 1 items
1634597983.880610 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:100c2) ...
1634597983.880707 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:100c2) ...
1634597983.880735 [0]         gc: writer_set_state(2711001:4ba396af:48260d2e:100c2) state transition 0 -> 3
1634597983.880769 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:2c2) - unknown guid
1634597983.880800 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:3c2) ...
1634597983.880829 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:3c2) ...
1634597983.880858 [0]         gc: writer_set_state(2711001:4ba396af:48260d2e:3c2) state transition 0 -> 3
1634597983.880928 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:4c2) ...
1634597983.880954 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:4c2) ...
1634597983.880981 [0]         gc: writer_set_state(2711001:4ba396af:48260d2e:4c2) state transition 0 -> 3
1634597983.881010 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:200c2) ...
1634597983.881035 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:200c2) ...
1634597983.881076 [0]         gc: writer_set_state(2711001:4ba396af:48260d2e:200c2) state transition 0 -> 3
1634597983.881126 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:100c7) ...
1634597983.881178 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:2c7) - unknown guid
1634597983.881203 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:3c7) ...
1634597983.881229 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:4c7) ...
1634597983.881254 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:200c7) ...
1634597983.881323 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:ff0003c2) - unknown guid
1634597983.881351 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:ff0003c7) - unknown guid
1634597983.881380 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:ff0004c2) - unknown guid
1634597983.881387 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:ff0004c7) - unknown guid
1634597983.881414 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:ff0200c2) - unknown guid
1634597983.881440 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:ff0200c7) - unknown guid
1634597983.881466 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:201c3) - unknown guid
1634597983.881493 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:201c4) - unknown guid
1634597983.881559 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:ff0101c2) - unknown guid
1634597983.881563 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:ff0101c7) - unknown guid
1634597983.881589 [0]         gc: delete_writer_nolinger(guid 2711001:4ba396af:48260d2e:ff0202c3) - unknown guid
1634597983.881617 [0]         gc: delete_reader_guid(guid 2711001:4ba396af:48260d2e:ff0202c4) - unknown guid
1634597983.881645 [0]         gc: gc 0x1df9be0: deleting
1634597983.881720 [0]         gc: gc_delete_writer(0x1df9be0, 2711001:4ba396af:48260d2e:100c2)
1634597983.881769 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:100c2 @ 0x1bba414) user 0 builtin 7
1634597983.881798 [0]         gc: gc 0x1ded900: deleting
1634597983.881802 [0]         gc: gc_delete_writer(0x1ded900, 2711001:4ba396af:48260d2e:3c2)
1634597983.881831 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:3c2 @ 0x1d6bd84) user 0 builtin 6
1634597983.881878 [0]         gc: gc 0x1db5b40: deleting
1634597983.881904 [0]         gc: gc_delete_writer(0x1db5b40, 2711001:4ba396af:48260d2e:4c2)
1634597983.881945 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:4c2 @ 0x1ba1c34) user 0 builtin 5
1634597983.881972 [0]         gc: gc 0x1db5910: deleting
1634597983.881995 [0]         gc: gc_delete_writer(0x1db5910, 2711001:4ba396af:48260d2e:200c2)
1634597983.882049 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:200c2 @ 0x1d7ab14) user 0 builtin 4
1634597983.882260 [0]         gc: gc 0x1db56e0: deleting
1634597983.882273 [0]         gc: gc_delete_reader(0x1db56e0, 2711001:4ba396af:48260d2e:100c7)
1634597983.882308 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:100c7 @ 0x1c9ac04) user 0 builtin 3
1634597983.882341 [0]         gc: gc 0x1d91ce0: deleting
1634597983.882371 [0]         gc: gc_delete_reader(0x1d91ce0, 2711001:4ba396af:48260d2e:3c7)
1634597983.882398 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:3c7 @ 0x1b1fd74) user 0 builtin 2
1634597983.882423 [0]         gc: gc 0x1d85660: deleting
1634597983.882429 [0]         gc: gc_delete_reader(0x1d85660, 2711001:4ba396af:48260d2e:4c7)
1634597983.882433 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:4c7 @ 0x1c1f5a4) user 0 builtin 1
1634597983.882457 [0]         gc: gc 0x7f5414001670: deleting
1634597983.882481 [0]         gc: gc_delete_reader(0x7f5414001670, 2711001:4ba396af:48260d2e:200c7)
1634597983.882489 [0]         gc: unref_participant(2711001:4ba396af:48260d2e:1c1 @ 0x1b5b750 <- 2711001:4ba396af:48260d2e:200c7 @ 0x1d4e9c4) user 0 builtin 0
1634597983.882546 [0]         gc: remove_deleted_participant_guid(2711001:4ba396af:48260d2e:1c1 for_what=1)
1634597983.882582 [0]         gc: gc 0x1d85660: deleting
1634597983.882640 [0]   listener: delete_writer_nolinger(guid 0:0:0:100c2) ...
1634597983.882675 [0]   listener: writer_set_state(0:0:0:100c2) state transition 0 -> 3
1634597983.882731 [0]   listener: delete_writer_nolinger(guid 0:0:0:3c2) ...
1634597983.882741 [0]         gc: gc 0x1d5e060: not yet, shortsleep
1634597983.882776 [0]   listener: writer_set_state(0:0:0:3c2) state transition 0 -> 3
1634597983.882822 [0]   listener: delete_writer_nolinger(guid 0:0:0:4c2) ...
1634597983.882828 [0]   listener: writer_set_state(0:0:0:4c2) state transition 0 -> 3
1634597983.883879 [0]         gc: gc 0x1d5e060: deleting
1634597983.883902 [0]         gc: gc_delete_writer(0x1d5e060, 0:0:0:100c2)
1634597983.883913 [0]         gc: gc 0x1e020b0: deleting
1634597983.883938 [0]         gc: gc_delete_writer(0x1e020b0, 0:0:0:3c2)
1634597983.883961 [0]         gc: gc 0x1e0c130: deleting
1634597983.883980 [0]         gc: gc_delete_writer(0x1e0c130, 0:0:0:4c2)
1634597983.884107 [0]         gc: gc 0x1e009b0: deleting
1634597983.884600 [0]   listener: xpack_addmsg 0x1c1ad10 0x7f5414001380 0(data(0:0:0:0:#0/1)): niov 0 sz 0 => now niov 3 sz 96
1634597983.884761 [0]   listener: nn_xpack_send 96: 0x1c1ad1c:20 0x7f5414001478:48 0x7f5414001554:28 [ udp/172.19.131.117:7410 udp/172.19.131.117:7412 udp/172.19.131.117:7414 udp/172.19.131.117:7416 udp/172.19.131.117:7418 udp/172.19.131.117:7420 udp/172.19.131.117:7422 udp/172.19.131.117:7424 udp/172.19.131.117:7426 ]
1634597983.884793 [0]   listener: traffic-xmit (9) 96
1634597983.884827 [0]   listener: ddsi_udp_release_conn unicast socket 6 port 58474
1634597983.884847 [0]   listener: ddsi_udp_release_conn unicast socket 4 port 7410
1634597983.884879 [0]   listener: ddsi_udp_release_conn unicast socket 5 port 7411
1634597983.884915 [0]   listener: udp finalized
1634597983.885035 [0]   listener: Finis.
Stopping ros-test_ros-foxy-talker_1 ... done
WARNING: Found orphan containers (ros-test_ros-foxy-listener-2_1, ros-test_ros-foxy-listener_1) for this project. If you removed or renamed this service in your compose file, you can run this command with the --remove-orphans flag to clean it up.
Removing ros-test_ros-foxy-talker_1 ... done
Removing network ros-test_ros-test-net
dpotman commented 2 years ago

In these logs there is not any sign of communication between the two nodes. The Cyclone settings seem to be correct, and the same settings I am using in my setup, which is working using the scripts and docker files from your reproducer. So it is likely that the problem is network-related.

You could try to run Wireshark on the host and capture the traffic (and apply the displayfilter "rtps"). Or in case you have a firewall enabled, you could try to disable that while running the test. Another option you could try is to run one of the two nodes on the Windows host instead of running on ubuntu on WSL2.

Torsten12 commented 2 years ago

Hello to everybody, I would also like to use that thread if that is ok. Thanks for the whole support, you guys give.

My setup is somehow identical but I guess a little more complicated:

Configuration on the PI (I will just use the example Ip's to make it clear): export CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><NetworkInterfaceAddress>172.20.10.6</NetworkInterfaceAddress><AllowMulticast>false</AllowMulticast></General><Discovery><ParticipantIndex>0</ParticipantIndex><Peers><Peer address='172.20.10.4:7412'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

Configuration on the Docker(I will just use the example Ip's to make it clear): The Dockerfile looks simplyfied like this

FROM ros:galactic
RUN apt-get update && apt-get install -y \
      ros-galatic-rmw-cyclonedds-cpp \
      ros-galatic-demo-nodes-cpp \
      ros-galatic-demo-nodes-py && \
    rm -rf /var/lib/apt/lists/*`
ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV HOST_ADDR="172.20.10.4"

ENV CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><ExternalNetworkAddress>${HOST_ADDR}</ExternalNetworkAddress><AllowMulticast>false</AllowMulticast></General><Discovery><ParticipantIndex>1</ParticipantIndex><Peers><Peer address='${HOST_ADDR}'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

And I run the docker like this on the Windows PC: docker run -it -p 172.20.10.4:7412:7412/udp -p 172.20.10.4:7413:7413/udp --rm container_name

Result But if I start a talker (on the PI) and a listener (in the container) the two nodes can't communicate to another. To verify some thinks I used the ddsperf tool like described here https://github.com/ros2/rmw_cyclonedds in the Debug section. If I start this tool on the PI and on the Windows PC(not in the container -> just plain Windows) with both configuration (multi- and unicast) it works like a charm. If I start the tool on the PI and inside the container with the described setup from above-> the two can discover each other, but no messages can be transmitted due to timeouts.

My assumption is that the dds discovery just telling the PI and the container where to find the reader and writers of DDS. But because PI and the container aren't in the same network and can't be connected directly the transmitting fails. Is that thought in essence correct or am I misunderstanding here something? If it's correct. Is there a way to configure DDS that all data is sended to the Windwos PC and we can just foward the ports?

dpotman commented 2 years ago

@Torsten12 no problem to use this thread for related questions. In the Dockerfile you've included, the peer address is the (Windows) host address <Peer address='${HOST_ADDR}'/>, but the peer node is the PI in your setup, so I would expect the 172.20.10.6 address there. Could you give that a try?

lanouettea commented 2 years ago

Well, thanks for your patience. I had to let this sit on ice for a while and just reopened this issue this afternoon.

I did not change anything, I just readjusted the HOST_IP in my script to the address of the eth0 interface of my WSL installation, then re-ran the test-container-host_cyclone.sh script. It worked flawlessly.

To be clear, I did not change anything else from my previous tests. I have no clue what changed. I can only assume that this is something that got fixed in a latest WSL update maybe?

Anyway, thanks for the help. It has been greatly appreciated.

eboasson commented 2 years ago

@lanouettea thanks for letting us know that it now works. I agree it is always a bit unsatisfying to not know the root cause, but sometimes the best thing to do is to simply be grateful that the gremlins have decided to go play somewhere else — for now ... 🙂

GiovanniTurri commented 2 years ago

Hi @Torsten12 , I'm in your same situation. Have you fixed your issue? Btw, I'm trying to use Unity as front-end instead to communicate with the PI of the robot

Thank you everyone

dpiet commented 2 years ago

@GiovanniTurri @Torsten12 Did you resolve your communication issues? We have a similar setup and encountering communication issues as well.

thijsmie commented 2 years ago

I'm hesitant to close this, because this is and will stay a common issue that people run into. Container networking is not as straightforward as it may appear, especially not on windows. I am thinking we should write down our knowledge on this topic, also as presented here, as a knowledge base/blog article and then close this.

MISSEY commented 1 year ago

Hello everyone, did anyone finds out the solution connecting using wsl2 ?

My specification : I am trying to connect to turtlebo4(galactic) from wsl2 (galactic), I am able to ping and ssh from wsl2 to turtlebot4. But couldn't able to communicate using simple discovery.

I am having following DDS setting 

 <CycloneDDS>
    <Domain>
        <General>
                 <DontRoute>true</DontRoute>
                 <NetworkInterfaceAddress>172.24.2.134</NetworkInterfaceAddress>
                <AllowMulticast>false</AllowMulticast>
        </General>
        <Discovery>
                <ParticipantIndex>0</ParticipantIndex>
                <Peers>
                        <Peer address="172.24.2.134"/>
                </Peers>
        </Discovery>
    </Domain>
</CycloneDDS>

Turtlebot4 IP : 10.249.102.20 Windows Host IP : 10.240.102.24 WSL2 IP : 172.24.2.134

I tried using all the IP address above in networkinterface, but none of them helped. I also tried creating port proxy following this link - https://learn.microsoft.com/en-us/windows/wsl/networking Thank you in advance

AlNikulin commented 11 months ago

Hello, everyone! Again this old topic. I'm trying to make Docker container (with ros2 Humble) work in Windows 10 host PC using WSL network. I have tried instructions given above (network/port specification and their forwarding) from docker but they do not work with humble. There is no communiction between talker and listener at all. I have tried using images osrf/ros:humble-desktop and ros:humble. But the result was the same - no connection. I see the occupied ports (7410/11/12/13) as it is shown above via netstat. I noticed that the only difference in my log and log above is the following line (similar line is present in both host and docker cyclone dds logs): 1698932191.325757 [0] 6476: rtps_init: uc ports: disc 7412 data 7413 1698932191.325761 [0] 6476: rtps_init: domainid 0 participantid 1 1698932191.325768 [0] 6476: Unicast Ports: discovery 7412 data 7413 1698932191.325789 [0] 6476: socket receive buffer size set to 1048576 bytes 1698932191.325795 [0] 6476: socket send buffer size set to 65536 bytes 1698932191.325938 [0] 6476: ddsi_udp_create_conn transmit(uc) socket 608 port 51942 1698932191.325944 [0] 6476: interface ETH1: transmit port 51942 1698932191.325945 [0] 14020: add_peer_addresses: add udp/192.168.0.1:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426

Unicast ports are different for host and docker of course, but in all cases we have THIRD port that is selected for some reason. I have checked log of communication in case when I start talker and listener on windows host. Communication works fine. I noticed that data transmission is done through this port with this huge number. I see following lines: 1698933042.232106 [0] recv: HDR(1102639:959bb101:c7c8bd80 vendor 1.16) len 284 from udp/192.168.0.1:51942 And then I realized that even if cyclone says that it uses pair of 74xx ports for discovery and data in my case it uses only discovery port from this pair and this "high" port for data. I started to dig and found this article: https://cyclonedds.io/docs/cyclonedds/latest/config/port_numbers.html It says: Two “well-known” multicast ports: B and B+1. Two unicast ports at which only this instance is listening: B+PGPI+10 and B+PGPI+11 One unicast port per domain participant it serves, chosen by the kernel from the list of anonymous ports, that is, >= 32768.

Definetely our case. In addition to our 2 participant-dependend port cyclone selects another one with number more than 32k. But it was not so in the examples above. Docker ros used only 2 ports and they were successfully forwarded to host. But in my case the third one is always here and it is used for communication. That is why nothing works. As I forwarded only 2 ports, but I need 3. The thing is that this 3rd port is always random, so it cannot be forwarded from docker. I continued to dig in and found that cyclone has the following configuration variable: //CycloneDDS/Domain/Compatibility/ManySocketsMode https://cyclonedds.io/docs/cyclonedds/latest/config/config_file_reference.html#cyclonedds-domain-compatibility-manysocketsmode

This configuration does exactly what it should: disables (if set to "none") the need of the third port. I tried it in only-windows environment ant it helped: 1698933750.443780 [0] 14020: config: Domain/Compatibility/ManySocketsMode/#text: none {1} ... 1698933750.459517 [0] 14020: rtps_init: uc ports: disc 7410 data 7411 1698933750.459520 [0] 14020: rtps_init: domainid 0 participantid 1 1698933750.459528 [0] 14020: Unicast Ports: discovery 7410 data 7411 1698933750.459532 [0] 14020: interface ETH1: transmit port 7411 1698933750.459564 [0] 14020: add_peer_addresses: add udp/192.168.0.1:7410, :7412, :7414, :7416, :7418, :7420, :7422, :7424, :7426

As one may see now second of 74xx is used for data transmisison. And yes, here is the HDR message: 1698933751.603804 [0] recv: HDR(110610e:bcf7ad81:7273440d vendor 1.16) len 588 from udp/192.168.0.1:7411

Everything now works as it was for foxy (at least in windows). I assume that this setting was set by default to "none" in cyclone's configuration, so there was no need to override it. But in "humble" version something changed. version 0.11 says that default is "single" (check the link above) version 0.10 says that default is "false" (https://cyclonedds.io/docs/cyclonedds/0.10.2/config/cyclonedds_specifics.html): If all DDSI implementations in the network include full addressing information in the messages like Eclipse Cyclone DDS does, then the per-domain participant ports serve no purpose at all. The default false setting of Compatibility/ManySocketsMode disables the creation of these ports.

So, I thought that now I finally have defat the problem and tried to do the same thing in docker ubuntu. And here we are coming to the tricky part. I'm using the following env in docker: CYCLONEDDS_URI="<CycloneDDS><Domain id='any'><General><AllowMulticast>false</AllowMulticast><ExternalNetworkAddress>192.168.0.1</ExternalNetworkAddress></General><Compatibility><ManySocketsMode>none</ManySocketsMode></Compatibility><Discovery><ParticipantIndex>0</ParticipantIndex><Peers><Peer address='${HOST_ADDR}'/></Peers></Discovery><Tracing><Verbosity>config</Verbosity><Out>stderr</Out></Tracing></Domain></CycloneDDS>"

Remember that everything works on windows? Except that host participant index was "1 for windows". As a result in docker I use ports 7410/7411 and forward them to host and windows will use 7412/7413. And that is what I got in Ubuntu: talker: ./src/core/ddsi/src/q_init.c:105: make_uc_sockets: Assertion `ppid == DDSI_PARTICIPANT_INDEX_NONE' failed.

I checked the code of latest cyclone and did not find this file (q_init.c), so it is not the code used. I have found it in 0.10 release (file and line are exaclty is in assert error) https://github.com/eclipse-cyclonedds/cyclonedds/blob/releases/0.10.x/src/core/ddsi/src/q_init.c#L103

This assert requires participant index to be set to "none", so one random port (32k+) will be always selected for discovery and data - I don't need it. So one can't start humble ubuntu cyclone talker with the same configuration as it is done in windows (and works perfectly). Random ports are not acceptable.

So in conclusion:

  1. One can make unicast configuration for ros humble on windows just by setting this in cyclone config: <Compatibility><ManySocketsMode>none</ManySocketsMode></Compatibility>.
  2. One can't make the same change for ros humble docker for latest osrf/ros:humble-desktop and ros:humble images.
  3. It seems that the version of cyclone dds works incorrectly in these images because it definetely should be able to use only 2 ports from 74xx pool specified by participant index. I see that in the master branch of cyclone dds there is the similar line in init file: https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/src/core/ddsi/src/ddsi_init.c#L169. So maybe this bug is still here, I can't tell.

So, I need an advice. Can I somehow understand what version of cyclone dds is used for windows ros2 humble and use it in docker ros2 humble image? May be there is no need in that and somehow I can disable this third port usege in ros2 humble docker image? Thanks!

ipa-rwu commented 11 months ago

I had similar issue. I runs it in docker container and also notice that it opens third port with random number such as 1700474593.703178 [0] listener: interface eth0: transmit port 60143

Does anyone know what this port used for?

zhangyuran-gg commented 8 months ago

@eboasson @dpotman Hi, I'm sorry to disturb you.I want to communicate between cloud servers(public IP) and local hosts(local area network IP), that is, between the WAN, How should I configure XML? Both machines are Linux systems.I haven't found any relevant examples yet... The current situation is that two machines in the same WiFi cannot run this example HelloWorld pub/sub. and based on my understanding, it doesn't require configuration. Looking forward to receving your reply.

eboasson commented 8 months ago

The current situation is that two machines in the same WiFi cannot run this example HelloWorld pub/sub. and based on my understanding, it doesn't require configuration.

With or without docker? This issue really is an issue with docker & Windows.

If two machines on the same WiFi doesn't work, then the two things I'd check is whether they are actually using the WiFi if there are multiple network interfaces, and that the firewall settings allow the communication (including multicast for initial discovery). For now, here I'll just refer to #1665 about the configuration 🙂