ASYNCHRONOUS is not reported by Fast DDS Monitor

[Krzo99]

Bug report

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • Binaries
• Version or commit hash:
  • ros-humble-fastrtps/jammy 2.6.7-1jammy.20240217.034748 ?
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Following this example, using the exactly same code and provided .xml, and env:

FASTRTPS_DEFAULT_PROFILES_FILE=/my_path/SyncAsync.xml
RMW_FASTRTPS_USE_QOS_FROM_XML=1
RMW_IMPLEMENTATION=rmw_fastrtps_cpp

Create a publisher and subscriber. Code compiles, and works. However, if I check in FastDDS Monitor, the publishing mode is still set to "SYNCHRONOUS"

Expected behavior

The publishing mode would be correctly set to ASYNCHRONOUS, as provided in .xml config file.

Actual behavior

The publishing mode is always set to SYNCHRONOUS, regardless of .xml config

Additional information

The SyncAsync.xml file is found correctly, as changing any tags gives errors when running the node.

[Mario-DL]

Hi @Krzo99 Thanks for the report. The issue has to do with the fact that Fast DDS Monitor is not reporting ASYNCHRONOUS, but it does not mean that the publish_mode is not correctly set with the configuration you provide. We will come back when we have a fix. In the meantime I would suggest changing the title to ASYNCHRONOUS is not reported by Fast DDS Monitor

[clalancette]

Given that this looks like a bug in Fast-DDS Monitor, and not in rmw_fastrtps, I'm going to go ahead and close this. Thanks for the report.