Revert "Discriminate when the Client has gone from when the Client has not completely matched (#479)"

[sloretz]

This reverts commit c78c31a from #479 @jacobperron FYI

It appears to be the cause of Foxy CI with rmw_fastrtps_dynamic_cpp hanging. It causes the rclcpp composable node container to crash, and that causes a test in test_launch_ros to hang forever.

A more minimal example is:

$ export RMW_IMPLEMENTATION=rmw_fastrtps_dynamic_cpp
$ ./install/rclcpp_components/lib/rclcpp_components/component_container

$ export RMW_IMPLEMENTATION=rmw_fastrtps_dynamic_cpp
$ ros2 component list

When ros2 component list is called, the container segfaults.

Crash happens entirely in FastRTPS

#0  0x00007ffff6e9e4c4 in std::_Hashtable<eprosima::fastrtps::rtps::GUID_t, std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, std::allocator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t> >, std::__detail::_Select1st, std::equal_to<eprosima::fastrtps::rtps::GUID_t>, rmw_fastrtps_shared_cpp::hash_fastrtps_guid, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_find_before_node(unsigned long, eprosima::fastrtps::rtps::GUID_t const&, unsigned long) const () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#1  0x00007ffff6e9d91c in std::_Hashtable<eprosima::fastrtps::rtps::GUID_t, std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, std::allocator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t> >, std::__detail::_Select1st, std::equal_to<eprosima::fastrtps::rtps::GUID_t>, rmw_fastrtps_shared_cpp::hash_fastrtps_guid, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_find_node(unsigned long, eprosima::fastrtps::rtps::GUID_t const&, unsigned long) const () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#2  0x00007ffff6e9db88 in std::pair<std::__detail::_Node_iterator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, false, true>, bool> std::_Hashtable<eprosima::fastrtps::rtps::GUID_t, std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, std::allocator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t> >, std::__detail::_Select1st, std::equal_to<eprosima::fastrtps::rtps::GUID_t>, rmw_fastrtps_shared_cpp::hash_fastrtps_guid, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::_M_emplace<eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&>(std::integral_constant<bool, true>, eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&) () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#3  0x00007ffff6e9d4de in std::pair<std::__detail::_Node_iterator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, false, true>, bool> std::_Hashtable<eprosima::fastrtps::rtps::GUID_t, std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, std::allocator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t> >, std::__detail::_Select1st, std::equal_to<eprosima::fastrtps::rtps::GUID_t>, rmw_fastrtps_shared_cpp::hash_fastrtps_guid, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::emplace<eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&>(eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&) () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#4  0x00007ffff6e9d0ea in std::pair<std::__detail::_Node_iterator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t>, false, true>, bool> std::unordered_map<eprosima::fastrtps::rtps::GUID_t, eprosima::fastrtps::rtps::GUID_t, rmw_fastrtps_shared_cpp::hash_fastrtps_guid, std::equal_to<eprosima::fastrtps::rtps::GUID_t>, std::allocator<std::pair<eprosima::fastrtps::rtps::GUID_t const, eprosima::fastrtps::rtps::GUID_t> > >::emplace<eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&>(eprosima::fastrtps::rtps::GUID_t const&, eprosima::fastrtps::rtps::GUID_t const&) () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#5  0x00007ffff6e9cac2 in ServiceListener::onNewDataMessage(eprosima::fastrtps::Subscriber*) () from /home/sloretz/install/rmw_fastrtps_dynamic_cpp/lib/librmw_fastrtps_dynamic_cpp.so
#6  0x00007ffff68068fa in eprosima::fastrtps::rtps::StatefulReader::NotifyChanges(eprosima::fastrtps::rtps::WriterProxy*) () from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#7  0x00007ffff6806b0c in eprosima::fastrtps::rtps::StatefulReader::change_received(eprosima::fastrtps::rtps::CacheChange_t*, eprosima::fastrtps::rtps::WriterProxy*) ()
   from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
--Type <RET> for more, q to quit, c to continue without paging--
#8  0x00007ffff6807c78 in eprosima::fastrtps::rtps::StatefulReader::processDataMsg(eprosima::fastrtps::rtps::CacheChange_t*) () from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#9  0x00007ffff6824cf6 in eprosima::fastrtps::rtps::MessageReceiver::proc_Submsg_Data(eprosima::fastrtps::rtps::CDRMessage_t*, eprosima::fastrtps::rtps::SubmessageHeader_t*) ()
   from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#10 0x00007ffff6829579 in eprosima::fastrtps::rtps::MessageReceiver::processCDRMsg(eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::CDRMessage_t*) ()
   from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#11 0x00007ffff682bd16 in eprosima::fastrtps::rtps::ReceiverResource::OnDataReceived(unsigned char const*, unsigned int, eprosima::fastrtps::rtps::Locator_t const&, eprosima::fastrtps::rtps::Locator_t const&)
    () from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#12 0x00007ffff6ae8be7 in eprosima::fastdds::rtps::SharedMemChannelResource::perform_listen_operation(eprosima::fastrtps::rtps::Locator_t) () from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#13 0x00007ffff6ad8d8a in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (eprosima::fastdds::rtps::SharedMemChannelResource::*)(eprosima::fastrtps::rtps::Locator_t), eprosima::fastdds::rtps::SharedMemChannelResource*, eprosima::fastrtps::rtps::Locator_t> > >::_M_run() () from /home/sloretz/install/fastrtps/lib/libfastrtps.so.2
#14 0x00007ffff75c5d84 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#15 0x00007ffff7057609 in start_thread (arg=<optimized out>) at pthread_create.c:477
#16 0x00007ffff7402293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

[sloretz]

CI (Foxy repos file, + rmw_fastrtps_dynamic_cpp build: --packages-up-to test_launch_ros rmw_fastrtps_cpp rmw_fastrtps_shared_cpp test: --packages-select test_launch_ros rmw_fastrtps_cpp rmw_fastrtps_shared_cpp)

• Linux
• Linux-aarch64
• macOS
• Windows

[sloretz]

CI LGTM. There are some windows warnings in rcl and rcutils, but those appear unrelated.