ROS2 QoS Reliability Issue

[gavanderhoorn]

While it’s not OotB behaviour, your post reminded me of RMW Fast DDS Publication Mode: Sync vs Async and how to change it.

As @Jaime_Martin_Losa mentions in that thread (async publishing is the default in many (all?) RMWs (or synchronous, it gets confusing)):

@Jaime_Martin_Losa

Nevertheless, the ASYNCHRONOUS publishing mode could also block if the History is filled and it is not possible to add a new change. To prevent this from happening, it is important to tune correctly the Quality of Service Policies related to the History management (Resource Limits, History, Reliability and Durability) and configure a flow controller to prevent flooding the network.