sensor_msgs::PointCloud2 message freeze

[Thomas-Merlet]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04 LTS
• Installation type:
  • Installed using binaries `sudo apt install ros-galactic-ros1-bridge`
• Version or commit hash:
  • 0.10.1-2focal.20220211.121358
• DDS implementation:
• Client library (if applicable):

Steps to reproduce issue

I've tried using ROS 1 Noetic and ROS 2 Dashing and Galactic.

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/26826861/161289762-5aa43ca7-a7a0-46cc-abda-54bf9bd40bd1.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:

[gbiggs]

Can you please provide a reproducible example that does not depend on such a large project? That will make it much easier to debug.

[Thomas-Merlet]

Hi, To follow up on this issue, we were able to resolve the problem by specifying the requested topics, using parameter_bridge.

I'm unable to produce a small reproducable example when using the dynamic_bridge. Although the number of topics over the bridge are approximatly the same, maybe the lower queue size (value of 1 in our bridge.yaml file) might explain the different behaviour we are getting.

[gbiggs]

Thanks for the update. I'll close this for now, then.