[Bug]: `rmf_traffic_shedule_monitor` throwing `rclcpp::UnsupportedEventTypeException` when used with `rmw_zenoh`

[yanrenyu0]

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OS and version

Ubuntu 24.04

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.7.2-1noble.20250430.000138

ROS distribution

Jazzy

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

ros-jazzy-rmf-traffic-ros2

Description of the bug

When using rmw_zenoh as the RMW implementation and starting rmf_traffic_schedule_monitor, rclcpp::UnsupportedEventTypeException is thrown. Full error log as shown below:

[rmf_traffic_schedule_monitor-2] terminate called after throwing an instance of 'rclcpp::UnsupportedEventTypeException'
[rmf_traffic_schedule_monitor-2]   what():  Failed to initialize event: provided event_type 0 is not supported by rmw_zenoh_cpp, at ./src/rmw_event.cpp:115
[rmf_traffic_schedule_monitor-2] Stack trace (most recent call last):
[rmf_traffic_schedule_monitor-2] #19   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
[rmf_traffic_schedule_monitor-2] #18   Object "/opt/ros/jazzy/lib/rmf_traffic_ros2/rmf_traffic_schedule_monitor", at 0x60587e40b384, in _start
[rmf_traffic_schedule_monitor-2] #17   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7aa374bfd28a, in __libc_start_main
[rmf_traffic_schedule_monitor-2] #16   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7aa374bfd1c9, in 
[rmf_traffic_schedule_monitor-2] #15   Object "/opt/ros/jazzy/lib/rmf_traffic_ros2/rmf_traffic_schedule_monitor", at 0x60587e40a931, in main
[rmf_traffic_schedule_monitor-2] #14   Object "/opt/ros/jazzy/lib/librmf_traffic_ros2.so", at 0x7aa3757f254f, in rmf_traffic_ros2::schedule::make_monitor_node(std::function<void (std::shared_ptr<rclcpp::Node>)>, rclcpp::NodeOptions const&, std::chrono::duration<long, std::ratio<1l, 1l> >)
[rmf_traffic_schedule_monitor-2] #13   Object "/opt/ros/jazzy/lib/librmf_traffic_ros2.so", at 0x7aa3757f0272, in rmf_traffic_ros2::schedule::MonitorNode::MonitorNode(std::function<void (std::shared_ptr<rclcpp::Node>)>, rclcpp::NodeOptions const&)
[rmf_traffic_schedule_monitor-2] #12   Object "/opt/ros/jazzy/lib/librmf_traffic_ros2.so", at 0x7aa3757f0175, in rmf_traffic_ros2::schedule::MonitorNode::setup()
[rmf_traffic_schedule_monitor-2] #11   Object "/opt/ros/jazzy/lib/librmf_traffic_ros2.so", at 0x7aa3757eea9f, in rmf_traffic_ros2::schedule::MonitorNode::start_heartbeat_listener()
[rmf_traffic_schedule_monitor-2] #10   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7aa37520558e, in rclcpp::node_interfaces::NodeTopics::create_subscription(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::SubscriptionFactory const&, rclcpp::QoS const&)
[rmf_traffic_schedule_monitor-2] #9    Object "/opt/ros/jazzy/lib/librmf_traffic_ros2.so", at 0x7aa3757f0458, in 
[rmf_traffic_schedule_monitor-2] #8    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7aa3752586a5, in rclcpp::SubscriptionBase::SubscriptionBase(rclcpp::node_interfaces::NodeBaseInterface*, rosidl_message_type_support_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcl_subscription_options_s const&, rclcpp::SubscriptionEventCallbacks const&, bool, rclcpp::DeliveredMessageKind)
[rmf_traffic_schedule_monitor-2] #7    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7aa37518da4e, in 
[rmf_traffic_schedule_monitor-2] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7aa374ece390, in __cxa_throw
[rmf_traffic_schedule_monitor-2] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7aa374eb8a54, in std::terminate()
[rmf_traffic_schedule_monitor-2] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7aa374ece0d9, in 
[rmf_traffic_schedule_monitor-2] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7aa374eb8ff4, in 
[rmf_traffic_schedule_monitor-2] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7aa374bfb8fe, in abort
[rmf_traffic_schedule_monitor-2] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7aa374c1827d, in raise
[rmf_traffic_schedule_monitor-2] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7aa374c71b2c, in pthread_kill
[rmf_traffic_schedule_monitor-2] Aborted (Signal sent by tkill() 36 0)
[ERROR] [rmf_traffic_schedule_monitor-2]: process has died [pid 36, exit code -6, cmd '/opt/ros/jazzy/lib/rmf_traffic_ros2/rmf_traffic_schedule_monitor --ros-args -r __node:=rmf_traffic_schedule_backup --params-file /tmp/launch_params_sh6iw3ir'].

Steps to reproduce the bug

1. Install rmw_zenoh with sudo apt update && sudo apt install ros-jazzy-rmw-zenoh-cpp -y
2. Run export RMW_IMPLEMENTATION=rmw_zenoh_cpp
3. Start zenoh router with ros2 run rmw_zenoh_cpp rmw_zenohd
4. Run ros2 run rmf_traffic_ros2 rmf_traffic_schedule_monitor --ros-args -r __node:=rmf_traffic_schedule_backup

Expected behavior

rmf_traffic_schedule_monitor starts without any errors

Actual behavior

rclcpp::UnsupportedEventTypeException is thrown, causing rmf_traffic_schedule_monitor to crash

Additional information or screenshots

No response