[21245] Fix topic interference on `liveliness_changed` status (backport #4988) (backport #5032)

[mergify[bot]]

Description

PR #4822 (and its backports) introduced a regression that was not detected until we requested ROS 2 rolling to use branch 2.14.x here

This PR:

1. Adds infrastructure to create Blackbox tests that simulate the behavior of ROS 2 node
2. Adds a ROS2 black-box test trying to mimick the test that regressed
3. Add a standard black-box regression test for the issue discovered
4. Fixes the issue

@Mergifyio backport 2.14.x 2.13.x 2.10.x 2.6.x

Contributor Checklist

• [x] Commit messages follow the project guidelines.

• [x] The code follows the style guidelines of this project.

• [x] Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally

• [x] Any new/modified methods have been properly documented using Doxygen.

• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)

• [x] Changes are backport compatible: they do NOT break ABI nor change library core behavior.

• [x] Changes are API compatible.

• N/A New feature has been added to the versions.md file (if applicable).

• N/A New feature has been documented/Current behavior is correctly described in the documentation.

• [x] Applicable backports have been included in the description.

Reviewer Checklist

• [x] The PR has a milestone assigned.
• [x] The title and description correctly express the PR's purpose.
• [x] Check contributor checklist is correct.
• [x] Check CI results: changes do not issue any warning.
• [x] Check CI results: failing tests are unrelated with the changes.

---

This is an automatic backport of pull request #4988 done by [Mergify](https://mergify.com).

---

This is an automatic backport of pull request #5032 done by [Mergify](https://mergify.com).

[mergify[bot]]

Cherry-pick of 4a6b934795c6f905fc17e6a3aa9acdc1c3051c18 has failed:

On branch mergify/bp/2.6.x/pr-5032
Your branch is up to date with 'origin/2.6.x'.

You are currently cherry-picking commit 4a6b93479.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   src/cpp/rtps/builtin/liveliness/WLP.cpp
	modified:   test/blackbox/common/BlackboxTestsLivelinessQos.cpp
	new file:   test/blackbox/common/DDSBlackboxTestsROS2.cpp
	new file:   test/blackbox/common/ros2/Context.hpp
	new file:   test/blackbox/common/ros2/DataReaderHolder.hpp
	new file:   test/blackbox/common/ros2/DataWriterHolder.hpp
	new file:   test/blackbox/common/ros2/GenericHolder.hpp
	new file:   test/blackbox/common/ros2/Node.hpp
	new file:   test/blackbox/common/ros2/PublicationNode.hpp
	new file:   test/blackbox/common/ros2/SubscriptionNode.hpp
	new file:   test/blackbox/common/ros2/TopicHolder.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/reader/StatefulReader.cpp
	both modified:   src/cpp/rtps/reader/StatelessReader.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[Mario-DL]

@MiguelCompany you may want to give it a quick look

[AbhishekTiwari07]

Hi @Mario-DL @JesusPoderoso, we’re awaiting the release of v2.6.10, which addresses the recent security issue (CVE-2025-24807). Do you have an ETA for its release?

[Mario-DL]

Hi @AbhishekTiwari07 Yes, it is planned to be released during the last week of April

[MiguelCompany]

BTW, this one looks good to me.