ROS2 node crash in CycloneDDS when connecting with Foxglove Studio

Description My ROS2 package crashes when running with FoxGlove

• Version: v1.9.0
• OS: Ubuntu 20.01

Steps To Reproduce

1. Connecr 1 Intel RealSense D435 camera
2. Run Intel RealSense ROS2 Wrapper
3. Open Foxglove studio

Expected Behavior Foxglove can display published images

Actual Behavior Intel RealSense ROS2 Wrapper crashes a few seconds after FoxGlove is started.

Error: [cam-2] python3: /tmp/binarydeb/ros-galactic-cyclonedds-0.8.0/src/core/ddsi/src/ddsi_entity_index.c:411: entidx_lookup_proxy_reader_guid: Assertion `is_reader_entityid (guid->entityid)’ failed. [ERROR] [cam-2]: process has died [pid 3848, exit code -6, cmd ‘/home/sh/ws/flir-wrapper_ws/install/flir_wrapper/lib/flir_wrapper/cam --ros-args -r __node:=cam_727 -r __ns:=/cam_727 --params-file /tmp/launch_params_5fvheszt’].

[jhurliman]

@defunctzombie no, I have not had any luck in tracking down the root cause even though I can reproducibly crash a ROS 2 stack running the CycloneDDS RMW. If myself or anyone picks up @foxglove/rtps development, I think compiling CycloneDDS + rmw_cyclonedds from source and breakpoint-debugging or print-debugging would be a helpful next step.

[jtbandes]

Going forward, we plan to deprecate and remove the ROS 2 native connection (https://github.com/foxglove/studio/issues/4900). We are working on a new foxglove_bridge, which will provide improved performance and reliability over the Rosbridge and native connections. You can already use the new bridge today (see the README). Stay tuned for upcoming announcements about the new bridge!