Gazebo ros plugins fail to create topic when using rmw_connext

[crdelsey]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • Source (latest ROS2 and Gazebo ros pkgs as of Monday 14 Oct 2019)
• Version or commit hash:
  • 2019-10-14-09-01-15.repos.txt
• DDS implementation:
  • RTI Connext 5.3.1
• Client library (if applicable):

Steps to reproduce issue

Launch gzserver with the ROS plugin, while using RTI Connext as DDS

gzserver --verbose -s libgazebo_ros_init.so

Expected behavior

It launches succesfully

Actual behavior

It terminates immediately with the following error.

DDS_Topic_createI:!create presentation topic
DDSTopic_impl::createI:!create topic
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  could not create publisher: failed to create topic, at /home/crdelsey/src/ros_dev_workspace/ros2_ws/src/ros2/rmw_connext/rmw_connext_cpp/src/rmw_publisher.cpp:205, at /home/crdelsey/src/ros_dev_workspace/ros2_ws/src/ros2/rcl/rcl/src/rcl/publisher.c:172

Additional information

It fails this way for me approximately 50% of the time.

Originally reported in ros-planning/navigation2#915