PID parsing needs vendor check(Shapedemo) [13702]

[YoungJin-gurum]

Expected Behavior

The Shape demo of Fast-DDSs and the shape demo of Gurumdds should communicate normally.

Current Behavior

communicate not normally.

Steps to Reproduce

1. Run Shapedemo both of Fast-DDS and Gurumdds.
2. Gurum shape pub & Fast shape sub
3. Or, Gurum shape sub & Fast shape pub

System information

• Fast-RTPS version: v2.4.0
• OS: Ubuntu 20.04
• Network interfaces: local(127.0.0.1)
• ROS2:

Additional context

As RTPS specification, the 8000 series of PID is the area of use by each vendor. https://github.com/eProsima/Fast-DDS/blob/d5f3559fbf91740865943237d5b0c2057e2b05af/include/fastdds/dds/core/policy/ParameterTypes.hpp#L127 Since gurumdds also uses number 8005, it seems necessary to check the vendor so that there is no problem in communication.

Additional resources

• Wireshark capture
• XML profiles file