Even if that’s the answer, that should be handled as the default profiles and not to the user. What you’re trying to do is pretty fundamental/basic - I’m shocked that there’s a problem with Fast-DDS in that.
I use Cyclone for most things involving hardware robots, I’ve found anecdotally that its more stable in bringup / regular service calls, but its been awhile since I seriously looked at Fast-DDS. Now that its default, I’ll start to dog food it more b/c I need to support Nav2 users, but this isn’t a great first impression for the mobile robotics community.
I’m also starting now to see a ramp up of RMW/DDS related tickets in Nav2 which I haven’t seen since the Foxy days, last time Fast-DDS was the default, which is troubling that we’ve potentially regressed in out-of-the-box behavior, even if the TSC RMW report metrics didn’t capture that information. It’s also worth noting an RMW issue with Fast-DDS reported: Subscriber which is created with dedicated callback group at runtime not working · Issue #613 · ros2/rmw_fastrtps · GitHub which is a pretty critical regression for my particular corner of the world.