FastDDS Discovery Server cause Nav2 lifecycle node issue

[Jayden-F]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • Binaries
• Version or commit hash:
  • ros-humble-rmw-fastrtps-cpp/jammy, now 2.6.4-1jammy.20230425.234452
• DDS implementation:
  • FAST RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

https://github.com/ros-planning/navigation2/issues/3560

Expected behavior

Nodes are started by lifecycle manager

Actual behavior

Node and lifecycle manager are waiting for each other.

[clalancette]

@MiguelCompany @EduPonz Any thoughts on what might be going on here?