SubscriberCallback triggered when recording /rosout

[haudren-woven]

Generated by Generative AI

No response

Operating System:

Ubuntu 24.04.3 LTS with custom kernel 6.6.87

ROS version or commit hash:

jazzy

RMW implementation (if applicable):

rmw_zenoh

RMW Configuration (if applicable):

connect/endpoints={peer: ["tcp/some_other_container:7447"]};listen/endpoints={router: ["tcp/0.0.0.0:7447"], peer: ["tcp/0.0.0.0:0"]};scouting/delay=1000

Client library (if applicable):

rclcpp

'ros2 doctor --report' output

ros2 doctor --report

Sorry I can't provide this as it contains a lot of proprietary information

Steps to reproduce issue

Unfortunately, I don't have a good reproducer example. We were evaluating the feasibility of switching to rmw_zenoh for our production use-case, as it would greatly help us bridge connectivity across a mesh of containers compared to running the cyclonedds bridge.

When recording the /rosout topic, this message appeared after some time during operation:

[ERROR] [rmw_zenoh_cpp]: SubscriberCallback triggered over 10/rosout/rcl_interfaces::msg::dds_::Log_/RIHS01_e28ce254ca8abc06abf92773b74602cdbf116ed34fbaf294fb9f81da9f318eac.

And our recorder process actually failed to record most of the messages: only log messages from one specific node were received. Note that this recorder process is basically a ros2 bag record process, but customized to record presets of topics of interest for our use case.

Note that around the same time, we also saw some issues with services failing:

[ERROR] [rmw_zenoh_cpp]: Query queue depth of 10 reached, discarding oldest Query for service '/some_service' 

Which suggests that something went wrong at the messaging layer beyond just /rosout.

Expected behavior

Our recorder process should record all messages flowing on /rosout, just like the cyclonedds case.

Actual behavior

No messages were recorded.

Additional information

No response