sensor_msgs::PointCloud2 message freeze

[Thomas-Merlet]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04 LTS
• Installation type:
  • Installed using binaries `sudo apt install ros-dashing-ros1-bridge`
• Version or commit hash:
  • 0.7.9-1bionic.20210521.231308
• DDS implementation:
• Client library (if applicable):

Steps to reproduce issue

I'm using ROS 1 Melodic and ROS 2 Dashing.

1. Play a bag file with sensor_msgs::PointCloud2 data in ROS1
2. Launch the bridge using ros2 run ros1_bridge dynamic_bridge
3. Launch multiple ROS1 nodes (like Autoware.IA ROS 1 nodes for example)
4. Launch a ROS2 nodes that subscribe to the raw sensor_msgs::PointCloud2 rosbag data

Expected behavior

No freeze in sensor_msgs::PointCloud2 messages.

Actual behavior

sensor_msgs::PointCloud2 messages freeze about every 2 seconds as shown below:

https://user-images.githubusercontent.com/26826861/137718233-bd4af98b-e956-498f-97b0-51852f518b22.mp4

Additional information

This seems to happen when multiple ROS 1 nodes are running. Stopping the ROS 1 nodes solve the issue.

top gives the following output:

[clalancette]

Dashing is end-of-life now, so we are no longer doing updates or support for it. I'll encourage you to use a newer distribution (Foxy or Galactic are still supported), and try again.

If you are still having problems, please open questions like these on https://answers.ros.org, which is our central question-and-answer place.