a subscriber of RTI native application can't receive messages from ros2 publisher

[iuhilnehc-ynos]

I don't know whether this is an issue or not, but it seems that a ros2 subscriber can receive messages from a publisher of RTI native application. https://github.com/iuhilnehc-ynos/rti_application_and_ros2_communication/blob/main/README.md

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • binaries
• Version or commit hash:
  • foxy
• DDS implementation:
  • rmw_connext_cpp
• Client library (if applicable):
  • rcl

Steps to reproduce issue

1. run a RTI native subscriber example

$ git clone https://github.com/iuhilnehc-ynos/rti_application_and_ros2_communication.git
$ cd rti_application_and_ros2_communication
$ source /opt/rti.com/rti_connext_dds-5.3.1/setenv_ros2rti.bash
$ make -f makefile_string_x64Linux3gcc5.4.0
$ ./objs/x64Linux3gcc5.4.0/string_subscriber

NOTE: Sorry for only providing ubuntu20.04 sample.

2. run ros2 client publisher

$ source /opt/ros/foxy/setup.bash
$ RMW_IMPLEMENTATION=rmw_connext_cpp ros2 topic pub chatter std_msgs/String 'data: hello world'

Expected behavior

the RTI native subscriber example can receive messages from ros2 publisher

Actual behavior

the RTI native subscriber example can't receive messages from ros2 publisher

Additional information

BTW: This case is working if I use other RMW_IMPLEMENTATION(rmw_fastrtps_cpp) and native examples(FastDDS).

[clalancette]

Communication between "native" DDS networks and ROS 2 is a long-standing feature request, but we haven't had time to look into the issues and make it work reliably. Patches to improve it would be welcome, of course.

[clalancette]

Closing, since with Foxy now being End-of-Life, this repository is no longer used.