'Unable to fini publisher for node., at ./src/rcl/node.c:380'

[wtokumaru]

Does anyone know where the discussion in this ticket was moved to by @JLBuenoLopez ?: #3737
I have not found it via search since the only result is the same original discussion.
I am getting a very similar issue and still get it when is_default_profile set to "true".
My specific use-case is potentially simpler as I am using the example here to try to set any xml profile: https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/ros2_configure.html

[JesusPoderoso]

Hi @wtokumaru, the thread was originally an "issue" ticket, in the Issues section, and was moved to the Discussions section, in particular to the support section. So the thread you refer to is the original and complete thread but hosted in different GitHub sections.

Are you following the XML profiles path and environment variables as explained in this section?
Which ROS 2 version (and Fast DDS version) are you using? Is there any reproducer that you could provide to us for replicating your issue?

[wtokumaru]

Hello Jesus, thank you for reaching out! It turns out I am using ROS humble and was testing with DDS 3.0 so when I swapped back to 2.6, the code was able to run. I was also able to get similar results with this: https://github.com/eProsima/rmw_fastrtps/tree/humble?tab=readme-ov-file#example

However, I am unable to set any of the helloworld channel QoS differently from the default. Could you perhaps share an example of this file which causes the QoS to change? I have been referencing 11.8. Common — Fast DDS 2.6.9 documentation (eprosima.com)

For example, if I insert the following into the helloworld section, the reliability still reports as BEST_EFFORT when I ros2 topic info -v /helloworld:

    <reliability>
        <kind>RELIABLE</kind>
    </reliability>

This goes the same for all of these settings, so I suspect I am missing some other step beyond the envvars. I know that the file is being read and used because if I set anything invalid, it crashes.

Additionally, I get many warning messages which tend to look like this when I use the profile, even with default QoS:

2024-09-11 16:44:49.489 [RTPS_READER_HISTORY Error] Change payload size of '56' bytes is larger than the history payload size of '35' bytes and cannot be resized. -> Function can_change_be_added_nts

But then otherwise it runs normally.

[Ryanf55]

Is there any way that eProsima could add a small demonstration on the existing tutorial for ros2-configure on how to set up a topic like the Static Transform Broadcaster that uses transient local durability with history length 1, another topic with "Best effort" reliability, and finally a "reliable" publisher?

In essense, I want a simple demonstration that shows how to take the standard QOS's used in ROS2 and replicate them in XML.
This is the first step for anyone looking to migrate off of the ROS 2 API's for QOS into FastDDS XML configuration.