[Bug] - ros2 topic echo only works on the first call

[firesurfer]

Describe the bug

When running ros2 topic echo /joint_states (also happens for other topics) it works fine for the first call.
After closing ros2 topic echo with CTRL+C and running it again no topic output is shown.
This happens also for other nodes.

Bridge output:

2024-08-14T12:24:17.058238Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/_ros2cli_2013878/get_type_description <-> Zenoh:_ros2cli_2013878/get_type_description) created
2024-08-14T12:24:17.058955Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /_ros2cli_2013878 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-08-14T12:24:17.058967Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /_ros2cli_2013878 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-08-14T12:24:17.665454Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /_ros2cli_2013878 declares Subscriber /joint_states: sensor_msgs/msg/JointState - Allowed

To reproduce

1. Start the zenoh-bridge-ros2dds on the robot
2. Connect from another computer via zenoh-bridge-ros2dds -e ...
3. run ros2 topic echo <topic>
4. Close it with CTRL+C
5. run it again

System info

-Ubuntu 22.04
-ROS2 iron
-zenoh-bridge-ros2dds v1.0.0-alpha.6

[JEnoch]

Those logs looks normal: the bridge discovered the Subscriber on /join_states declared by the command ros2 topic echo /join_states.

I tried to reproduce using the turtlebot3_gazebo simulation on a Ubuntu 22.04 laptop with Iron and latest commit b993597.
I used those commands:

• ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
• ./target/debug/zenoh-bridge-ros2dds
• ROS_DOMAIN_ID=1 ./target/debug/zenoh-bridge-ros2dds -l tcp/localhost:7448 -e tcp/localhost:7447
• ROS_DOMAIN_ID=1 ros2 topic echo /join_states sensor_msgs/msg/JointState
  then CTRL+C and run again

I didn't manage to reproduce the issue.

Could you please try again with latest commit of the main branch ?
And if the issue occurs again, please activate debug logs defining the RUST_LOG=zenoh_plugin=debug for the 2 bridges.

[knorrrr]

@JEnoch
Thank you for your production of the zenoh

I reproduced this bug.
This phenomenon occurs when stopping and restarting 'ros2 run demo_nodes_cpp talker' or 'ros2 topic echo /chatter', or when stopping and restarting Zenoh.

Additionally, sometimes 'ros2 topic echo /chatter' echoes the output two or three times.

PC 01 running ros2 run demo_nodes_cpp talker

System Info

• Ubuntu 22.04
• zenoh-bridge-ros2dds v1.0.0-rc.1

knorrrr@PC01:~/$ RUST_LOG=zenoh_plugin=debug zenoh-bridge-ros2dds 
2024-10-16T07:36:31.615440Z DEBUG main ThreadId(01) zenoh_plugin_trait::manager: Declared static plugin Id:ros2dds - Name:ros2dds
2024-10-16T07:36:31.615817Z DEBUG main ThreadId(01) zenoh_plugin_trait::manager::static_plugin: Plugin `ros2dds` started
2024-10-16T07:36:31.616299Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: ROS2 plugin 1.0.0-rc.1
2024-10-16T07:36:31.616319Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 0, ros_localhost_only: false, allowance: None, pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: None, reliable_routes_blocking: true, pub_priorities: [], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }
2024-10-16T07:36:31.616479Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Create DDS Participant on domain 0 with CYCLONEDDS_URI=''
2024-10-16T07:36:31.617777Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: ROS2 plugin c36aa27fa7b5153d27189ed9b3242682 using DDS Participant 01101ee04fbcf2561ff4f7b9000001c1 created
2024-10-16T07:36:31.617849Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Declare admin space on @/c36aa27fa7b5153d27189ed9b3242682/ros2/**
2024-10-16T07:36:31.618250Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 011063bc4100871669cdf771000001c1)
2024-10-16T07:36:31.618354Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 01107117585a8f6c6b218b0d000001c1)
2024-10-16T07:36:31.619397Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 01107117585a8f6c6b218b0d00000403 from Participant 01107117585a8f6c6b218b0d000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:31.619438Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 01107117585a8f6c6b218b0d00000603 from Participant 01107117585a8f6c6b218b0d000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:31.619460Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 01107117585a8f6c6b218b0d00000703 from Participant 01107117585a8f6c6b218b0d000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:31.619476Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 01107117585a8f6c6b218b0d00000504 from Participant 01107117585a8f6c6b218b0d000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:31.619503Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 01107117585a8f6c6b218b0d00000804 from Participant 01107117585a8f6c6b218b0d000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true)
2024-10-16T07:36:31.619520Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011063bc4100871669cdf77100000403 from Participant 011063bc4100871669cdf771000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:31.619542Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011063bc4100871669cdf77100000603 from Participant 011063bc4100871669cdf771000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:31.619556Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011063bc4100871669cdf77100000703 from Participant 011063bc4100871669cdf771000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:31.619571Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011063bc4100871669cdf77100000504 from Participant 011063bc4100871669cdf771000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:31.719338Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::ros2_utils: ROS_DISTRO detected: humble
2024-10-16T07:36:31.719376Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 0 writers and 0 readers
2024-10-16T07:36:31.719397Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 01107117585a8f6c6b218b0d000001c1 with nodes: [/_ros2cli_148571]
2024-10-16T07:36:31.719408Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_148571
2024-10-16T07:36:31.719440Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_148571 declares a new Reader on rt/chatter
2024-10-16T07:36:31.719451Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_148571 declares a new Writer on rt/parameter_events
2024-10-16T07:36:31.719457Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_148571 declares a new Writer on rt/rosout
2024-10-16T07:36:31.719467Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 011063bc4100871669cdf771000001c1 with nodes: [/_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d]
2024-10-16T07:36:31.719473Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d
2024-10-16T07:36:31.719487Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d declares a new Writer on rt/rosout
2024-10-16T07:36:31.719494Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d declares a new Writer on rt/parameter_events
2024-10-16T07:36:31.719512Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Node /_ros2cli_148571 declares Subscriber /chatter: std_msgs/msg/String - Allowed
2024-10-16T07:36:31.719537Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (chatter -> /chatter): creation with type std_msgs/msg/String (transient_local:false)
2024-10-16T07:36:31.719545Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (chatter -> /chatter): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 5 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: Some(TypeConsistency { kind: ALLOW_TYPE_COERCION, ignore_sequence_bounds: true, ignore_string_bounds: true, ignore_member_names: false, prevent_type_widening: false, force_type_validation: false }), entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) }
2024-10-16T07:36:31.719676Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:chatter -> ROS:/chatter) created
2024-10-16T07:36:31.719691Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving local nodes {"/_ros2cli_148571"}
2024-10-16T07:36:31.719698Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) activate
2024-10-16T07:36:31.719817Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Node /_ros2cli_148571 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:31.719829Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/parameter_events -> parameter_events): creation with type rcl_interfaces/msg/ParameterEvent
2024-10-16T07:36:31.719833Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/parameter_events -> parameter_events): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:31.719870Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) created
2024-10-16T07:36:31.719877Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_148571"}
2024-10-16T07:36:31.719914Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Node /_ros2cli_148571 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:31.719920Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): creation with type rcl_interfaces/msg/Log
2024-10-16T07:36:31.719924Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): caching TRANSIENT_LOCAL publications via a PublicationCache with history=10000 (computed from Reader's QoS: history=(KEEP_LAST,1000), durability_service.max_instances=-1)
2024-10-16T07:36:31.720134Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:31.720163Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/rosout -> Zenoh:rosout) created
2024-10-16T07:36:31.720171Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_148571"}
2024-10-16T07:36:31.720215Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:31.720222Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_148571", "/_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d"}
2024-10-16T07:36:31.720231Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:31.720241Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_148571", "/_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d"}
2024-10-16T07:36:31.820705Z DEBUG tokio-runtime-worker ThreadId(21) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 1 writers and 0 readers
2024-10-16T07:36:31.944888Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/ccadec0e53bdfe8e9e3ea052ab68394e/@ros2_lv/MP/parameter_events/rcl_interfaces§msg§ParameterEvent/:1::0,1000
2024-10-16T07:36:31.944943Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Remote bridge ccadec0e53bdfe8e9e3ea052ab68394e announces Publisher parameter_events
2024-10-16T07:36:31.944957Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (parameter_events -> /parameter_events): creation with type rcl_interfaces/msg/ParameterEvent (transient_local:false)
2024-10-16T07:36:31.944967Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (parameter_events -> /parameter_events): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 1000 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:31.945136Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) created
2024-10-16T07:36:31.945156Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) now serving remote routes {"ccadec0e53bdfe8e9e3ea052ab68394e:parameter_events"}
2024-10-16T07:36:31.945171Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/ccadec0e53bdfe8e9e3ea052ab68394e/@ros2_lv/MP/rosout/rcl_interfaces§msg§Log/:1:1:0,1000
2024-10-16T07:36:31.945184Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Remote bridge ccadec0e53bdfe8e9e3ea052ab68394e announces Publisher rosout
2024-10-16T07:36:31.945191Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (rosout -> /rosout): creation with type rcl_interfaces/msg/Log (transient_local:true)
2024-10-16T07:36:31.945197Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (rosout -> /rosout): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: Some(Durability { kind: TRANSIENT_LOCAL }), durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 1000 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:31.945258Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:rosout -> ROS:/rosout) created
2024-10-16T07:36:31.945268Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:rosout -> ROS:/rosout) now serving remote routes {"ccadec0e53bdfe8e9e3ea052ab68394e:rosout"}
2024-10-16T07:36:31.945282Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: New ROS 2 bridge detected: ccadec0e53bdfe8e9e3ea052ab68394e
2024-10-16T07:36:32.022860Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 3 writers and 0 readers
2024-10-16T07:36:51.806739Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 011073e41db06b305ad92711000001c1)
2024-10-16T07:36:51.808329Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000403 from Participant 011073e41db06b305ad92711000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:51.808414Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000603 from Participant 011073e41db06b305ad92711000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:51.808449Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100000504 from Participant 011073e41db06b305ad92711000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:51.808506Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000703 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/get_parametersReply with type rcl_interfaces::srv::dds_::GetParameters_Response_ (keyless: true)
2024-10-16T07:36:51.808536Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100000804 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/get_parametersRequest with type rcl_interfaces::srv::dds_::GetParameters_Request_ (keyless: true)
2024-10-16T07:36:51.808757Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000903 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/get_parameter_typesReply with type rcl_interfaces::srv::dds_::GetParameterTypes_Response_ (keyless: true)
2024-10-16T07:36:51.808809Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100000a04 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/get_parameter_typesRequest with type rcl_interfaces::srv::dds_::GetParameterTypes_Request_ (keyless: true)
2024-10-16T07:36:51.808845Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000b03 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/set_parametersReply with type rcl_interfaces::srv::dds_::SetParameters_Response_ (keyless: true)
2024-10-16T07:36:51.808870Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100000c04 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/set_parametersRequest with type rcl_interfaces::srv::dds_::SetParameters_Request_ (keyless: true)
2024-10-16T07:36:51.809014Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000d03 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/set_parameters_atomicallyReply with type rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ (keyless: true)
2024-10-16T07:36:51.809041Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100000e04 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/set_parameters_atomicallyRequest with type rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ (keyless: true)
2024-10-16T07:36:51.809186Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100000f03 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/describe_parametersReply with type rcl_interfaces::srv::dds_::DescribeParameters_Response_ (keyless: true)
2024-10-16T07:36:51.809214Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100001004 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/describe_parametersRequest with type rcl_interfaces::srv::dds_::DescribeParameters_Request_ (keyless: true)
2024-10-16T07:36:51.809353Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100001103 from Participant 011073e41db06b305ad92711000001c1 on rr/talker/list_parametersReply with type rcl_interfaces::srv::dds_::ListParameters_Response_ (keyless: true)
2024-10-16T07:36:51.809391Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100001204 from Participant 011073e41db06b305ad92711000001c1 on rq/talker/list_parametersRequest with type rcl_interfaces::srv::dds_::ListParameters_Request_ (keyless: true)
2024-10-16T07:36:51.809618Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100001303 from Participant 011073e41db06b305ad92711000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:51.809892Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011073e41db06b305ad9271100001404 from Participant 011073e41db06b305ad92711000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:51.810408Z DEBUG ThreadId(26) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011073e41db06b305ad9271100001503 from Participant 011073e41db06b305ad92711000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true)
2024-10-16T07:36:51.836612Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 011073e41db06b305ad92711000001c1 with nodes: [/talker]
2024-10-16T07:36:51.836632Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /talker
2024-10-16T07:36:51.836669Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Reader on rt/parameter_events
2024-10-16T07:36:51.836680Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/get_parametersReply
2024-10-16T07:36:51.836687Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rt/parameter_events
2024-10-16T07:36:51.836694Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rt/rosout
2024-10-16T07:36:51.836701Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/set_parameters_atomicallyReply
2024-10-16T07:36:51.836708Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rt/chatter
2024-10-16T07:36:51.836714Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/describe_parametersReply
2024-10-16T07:36:51.836720Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/get_parameter_typesReply
2024-10-16T07:36:51.836726Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/set_parametersReply
2024-10-16T07:36:51.836733Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: ROS Node /talker declares a new Writer on rr/talker/list_parametersReply
2024-10-16T07:36:51.836760Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:51.836774Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) now serving local nodes {"/talker"}
2024-10-16T07:36:51.836782Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) activate
2024-10-16T07:36:51.836928Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2024-10-16T07:36:51.836939Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): creation with type rcl_interfaces/srv/GetParameters
2024-10-16T07:36:51.837064Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): (local client_guid=d66b6a7ce083319a)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.0' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 48, 59]
2024-10-16T07:36:51.837138Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created
2024-10-16T07:36:51.837149Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) now serving local nodes {"/talker"}
2024-10-16T07:36:51.837210Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§get_parameters/rcl_interfaces§srv§GetParameters
2024-10-16T07:36:51.837302Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:51.837312Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/talker", "/_ros2cli_148571", "/_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d"}
2024-10-16T07:36:51.837321Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:51.837326Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_148571", "/talker", "/_ros2cli_daemon_0_b99cf91faff641139b78a17dc7e5571d"}
2024-10-16T07:36:51.837332Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2024-10-16T07:36:51.837337Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): creation with type rcl_interfaces/srv/SetParametersAtomically
2024-10-16T07:36:51.837407Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): (local client_guid=58e80a34b8c848c3)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.1' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 49, 59]
2024-10-16T07:36:51.837464Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2024-10-16T07:36:51.837474Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) now serving local nodes {"/talker"}
2024-10-16T07:36:51.837543Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§set_parameters_atomically/rcl_interfaces§srv§SetParametersAtomically
2024-10-16T07:36:51.837596Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Publisher /chatter: std_msgs/msg/String - Allowed
2024-10-16T07:36:51.837606Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/chatter -> chatter): creation with type std_msgs/msg/String
2024-10-16T07:36:51.837612Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/chatter -> chatter): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:51.837648Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/chatter -> Zenoh:chatter) created
2024-10-16T07:36:51.837658Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving local nodes {"/talker"}
2024-10-16T07:36:51.837727Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2024-10-16T07:36:51.837735Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): creation with type rcl_interfaces/srv/DescribeParameters
2024-10-16T07:36:51.837806Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): (local client_guid=5d408c35dc18dba3)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.2' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 50, 59]
2024-10-16T07:36:51.837864Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2024-10-16T07:36:51.837874Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) now serving local nodes {"/talker"}
2024-10-16T07:36:51.837923Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§describe_parameters/rcl_interfaces§srv§DescribeParameters
2024-10-16T07:36:51.837984Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2024-10-16T07:36:51.837993Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): creation with type rcl_interfaces/srv/GetParameterTypes
2024-10-16T07:36:51.838053Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): (local client_guid=18fe345276384c65)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.3' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 51, 59]
2024-10-16T07:36:51.838143Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2024-10-16T07:36:51.838153Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) now serving local nodes {"/talker"}
2024-10-16T07:36:51.838203Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§get_parameter_types/rcl_interfaces§srv§GetParameterTypes
2024-10-16T07:36:51.838258Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2024-10-16T07:36:51.838267Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): creation with type rcl_interfaces/srv/SetParameters
2024-10-16T07:36:51.838337Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): (local client_guid=e760191cab3687a5)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.4' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 52, 59]
2024-10-16T07:36:51.838388Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2024-10-16T07:36:51.838397Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) now serving local nodes {"/talker"}
2024-10-16T07:36:51.838443Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§set_parameters/rcl_interfaces§srv§SetParameters
2024-10-16T07:36:51.838504Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2024-10-16T07:36:51.838512Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): creation with type rcl_interfaces/srv/ListParameters
2024-10-16T07:36:51.838565Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): (local client_guid=294559d7d752ef87)  id='1.10.1e.e0.4f.bc.f2.56.1f.f4.f7.b9.0.0.0.5' => USER_DATA=[99, 108, 105, 101, 110, 116, 105, 100, 61, 32, 49, 46, 49, 48, 46, 49, 101, 46, 101, 48, 46, 52, 102, 46, 98, 99, 46, 102, 50, 46, 53, 54, 46, 49, 102, 46, 102, 52, 46, 102, 55, 46, 98, 57, 46, 48, 46, 48, 46, 48, 46, 53, 59]
2024-10-16T07:36:51.838619Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2024-10-16T07:36:51.838627Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) now serving local nodes {"/talker"}
2024-10-16T07:36:51.838672Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_service_srv: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) announce via token @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§list_parameters/rcl_interfaces§srv§ListParameters
2024-10-16T07:36:51.936907Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 9 writers and 6 readers
2024-10-16T07:36:55.399098Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/ccadec0e53bdfe8e9e3ea052ab68394e/@ros2_lv/MS/chatter/std_msgs§msg§String/:1::0,5
2024-10-16T07:36:55.399114Z DEBUG                net-0 ThreadId(24) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) MatchingStatus changed: MatchingStatus { matching: true }
2024-10-16T07:36:55.399138Z  INFO tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds: Remote bridge ccadec0e53bdfe8e9e3ea052ab68394e announces Subscriber chatter
2024-10-16T07:36:55.399138Z DEBUG                net-0 ThreadId(24) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter): create Reader with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 7 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) }
2024-10-16T07:36:55.399154Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"ccadec0e53bdfe8e9e3ea052ab68394e:chatter"}
2024-10-16T07:36:55.475323Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 9 writers and 7 readers
2024-10-16T07:36:58.201274Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Received liveliness event: DELETE on @/ccadec0e53bdfe8e9e3ea052ab68394e/@ros2_lv/MS/chatter/std_msgs§msg§String/:1::0,5
2024-10-16T07:36:58.201314Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Remote bridge ccadec0e53bdfe8e9e3ea052ab68394e retires Subscriber chatter
2024-10-16T07:36:58.201328Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {}
2024-10-16T07:36:58.205462Z DEBUG tokio-runtime-worker ThreadId(16) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 9 writers and 6 readers
2024-10-16T07:36:59.910031Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/ccadec0e53bdfe8e9e3ea052ab68394e/@ros2_lv/MS/chatter/std_msgs§msg§String/:1::0,5
2024-10-16T07:36:59.910068Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds: Remote bridge ccadec0e53bdfe8e9e3ea052ab68394e announces Subscriber chatter
2024-10-16T07:36:59.910084Z DEBUG tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"ccadec0e53bdfe8e9e3ea052ab68394e:chatter"}

PC02 running ros2 topic echo /chatter

System Info

• Ubuntu 22.04
• zenoh-bridge-ros2dds v1.0.0-beta.4

tomoki@pc02:~/$ RUST_LOG=zenoh_plugin=debug  zenoh-bridge-ros2dds -e tcp/192.168.0.16:7447
2024-10-16T07:36:20.787702Z DEBUG main ThreadId(01) zenoh_plugin_trait::manager: Declared static plugin Id:ros2dds - Name:ros2dds
2024-10-16T07:36:20.787894Z DEBUG main ThreadId(01) zenoh_plugin_trait::manager::static_plugin: Plugin `ros2dds` started
2024-10-16T07:36:20.788079Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: ROS2 plugin 1.0.0-beta.4
2024-10-16T07:36:20.788087Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 0, ros_localhost_only: false, allowance: None, pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: None, reliable_routes_blocking: true, pub_priorities: [], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }
2024-10-16T07:36:20.788177Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Create DDS Participant on domain 0 with CYCLONEDDS_URI='file:///home/tomoki/cyclonedds.xml'
2024-10-16T07:36:20.790565Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: ROS2 plugin ccadec0e53bdfe8e9e3ea052ab68394e using DDS Participant 011094d637a0d152c3c83af9000001c1 created
2024-10-16T07:36:20.790613Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Declare admin space on @/ccadec0e53bdfe8e9e3ea052ab68394e/ros2/**
2024-10-16T07:36:20.790896Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 011039e28114f7e2d30b0eee000001c1)
2024-10-16T07:36:20.792004Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011039e28114f7e2d30b0eee00000403 from Participant 011039e28114f7e2d30b0eee000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:20.792036Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011039e28114f7e2d30b0eee00000603 from Participant 011039e28114f7e2d30b0eee000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:20.792051Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011039e28114f7e2d30b0eee00000703 from Participant 011039e28114f7e2d30b0eee000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:20.792067Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011039e28114f7e2d30b0eee00000504 from Participant 011039e28114f7e2d30b0eee000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:20.891124Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 0 writers and 0 readers
2024-10-16T07:36:20.891155Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::ros2_utils: ROS_DISTRO detected: humble
2024-10-16T07:36:20.891176Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 011039e28114f7e2d30b0eee000001c1 with nodes: [/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650]
2024-10-16T07:36:20.891181Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650
2024-10-16T07:36:20.891201Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650 declares a new Writer on rt/rosout
2024-10-16T07:36:20.891210Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650 declares a new Writer on rt/parameter_events
2024-10-16T07:36:20.891226Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:20.891266Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): creation with type rcl_interfaces/msg/Log
2024-10-16T07:36:20.891276Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): caching TRANSIENT_LOCAL publications via a PublicationCache with history=10000 (computed from Reader's QoS: history=(KEEP_LAST,1000), durability_service.max_instances=-1)
2024-10-16T07:36:20.891405Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/rosout -> rosout): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:20.891445Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/rosout -> Zenoh:rosout) created
2024-10-16T07:36:20.891454Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650"}
2024-10-16T07:36:20.891521Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:20.891529Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/parameter_events -> parameter_events): creation with type rcl_interfaces/msg/ParameterEvent
2024-10-16T07:36:20.891532Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/parameter_events -> parameter_events): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:20.891551Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) created
2024-10-16T07:36:20.891556Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650"}
2024-10-16T07:36:31.940816Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/MS/chatter/std_msgs§msg§String/:1::0,5
2024-10-16T07:36:31.940852Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Subscriber chatter
2024-10-16T07:36:31.940865Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/chatter -> chatter): creation with type std_msgs/msg/String
2024-10-16T07:36:31.940869Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_publisher: Route Publisher (/chatter -> chatter): congestion_ctrl Block, priority Data, express:false
2024-10-16T07:36:31.940898Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/chatter -> Zenoh:chatter) created
2024-10-16T07:36:31.940906Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:chatter"}
2024-10-16T07:36:31.940918Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/MP/parameter_events/rcl_interfaces§msg§ParameterEvent/:1::0,1000
2024-10-16T07:36:31.940929Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Publisher parameter_events
2024-10-16T07:36:31.940938Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (parameter_events -> /parameter_events): creation with type rcl_interfaces/msg/ParameterEvent (transient_local:false)
2024-10-16T07:36:31.940944Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (parameter_events -> /parameter_events): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 1000 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:31.941042Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) created
2024-10-16T07:36:31.941050Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:parameter_events"}
2024-10-16T07:36:31.941059Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: New ROS 2 bridge detected: c36aa27fa7b5153d27189ed9b3242682
2024-10-16T07:36:31.941067Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/MP/rosout/rcl_interfaces§msg§Log/:1:1:0,1000
2024-10-16T07:36:31.941077Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Publisher rosout
2024-10-16T07:36:31.941082Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (rosout -> /rosout): creation with type rcl_interfaces/msg/Log (transient_local:true)
2024-10-16T07:36:31.941087Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (rosout -> /rosout): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: Some(Durability { kind: TRANSIENT_LOCAL }), durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 1000 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:31.941130Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:rosout -> ROS:/rosout) created
2024-10-16T07:36:31.941135Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:rosout -> ROS:/rosout) now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:rosout"}
2024-10-16T07:36:32.024168Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 2 writers and 0 readers
2024-10-16T07:36:51.845660Z DEBUG                net-0 ThreadId(10) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) MatchingStatus changed: MatchingStatus { matching: true }
2024-10-16T07:36:51.845674Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/MS/parameter_events/rcl_interfaces§msg§ParameterEvent/:1::0,1000
2024-10-16T07:36:51.845720Z DEBUG                net-0 ThreadId(10) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events): create Reader with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 9223372036854775807 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 1000 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: Some([0]) }
2024-10-16T07:36:51.845735Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Subscriber parameter_events
2024-10-16T07:36:51.845743Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:parameter_events"}
2024-10-16T07:36:51.845787Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§get_parameters/rcl_interfaces§srv§GetParameters
2024-10-16T07:36:51.845801Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/get_parameters
2024-10-16T07:36:51.845810Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): creation with type rcl_interfaces/srv/GetParameters (queries_timeout=5s)
2024-10-16T07:36:51.845819Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created
2024-10-16T07:36:51.845829Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/get_parameters"}
2024-10-16T07:36:51.845838Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): activate
2024-10-16T07:36:51.845860Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.0' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 48, 59]
2024-10-16T07:36:51.845969Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§set_parameters_atomically/rcl_interfaces§srv§SetParametersAtomically
2024-10-16T07:36:51.845984Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/set_parameters_atomically
2024-10-16T07:36:51.845988Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): creation with type rcl_interfaces/srv/SetParametersAtomically (queries_timeout=5s)
2024-10-16T07:36:51.845993Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2024-10-16T07:36:51.845999Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/set_parameters_atomically"}
2024-10-16T07:36:51.846005Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): activate
2024-10-16T07:36:51.846011Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.1' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 49, 59]
2024-10-16T07:36:51.846134Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/MP/chatter/std_msgs§msg§String/:1::0,7
2024-10-16T07:36:51.846150Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Publisher chatter
2024-10-16T07:36:51.846154Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (chatter -> /chatter): creation with type std_msgs/msg/String (transient_local:false)
2024-10-16T07:36:51.846158Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (chatter -> /chatter): create Writer with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 7 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:51.846206Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:chatter -> ROS:/chatter) created
2024-10-16T07:36:51.846217Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:chatter"}
2024-10-16T07:36:51.853422Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§describe_parameters/rcl_interfaces§srv§DescribeParameters
2024-10-16T07:36:51.853438Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 5 writers and 3 readers
2024-10-16T07:36:51.853441Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/describe_parameters
2024-10-16T07:36:51.853454Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): creation with type rcl_interfaces/srv/DescribeParameters (queries_timeout=5s)
2024-10-16T07:36:51.853460Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2024-10-16T07:36:51.853466Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/describe_parameters"}
2024-10-16T07:36:51.853474Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): activate
2024-10-16T07:36:51.853483Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.2' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 50, 59]
2024-10-16T07:36:51.853645Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§get_parameter_types/rcl_interfaces§srv§GetParameterTypes
2024-10-16T07:36:51.853670Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/get_parameter_types
2024-10-16T07:36:51.853685Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): creation with type rcl_interfaces/srv/GetParameterTypes (queries_timeout=5s)
2024-10-16T07:36:51.853692Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2024-10-16T07:36:51.853703Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/get_parameter_types"}
2024-10-16T07:36:51.853710Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): activate
2024-10-16T07:36:51.853720Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.3' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 51, 59]
2024-10-16T07:36:51.853832Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§set_parameters/rcl_interfaces§srv§SetParameters
2024-10-16T07:36:51.853847Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/set_parameters
2024-10-16T07:36:51.853855Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): creation with type rcl_interfaces/srv/SetParameters (queries_timeout=5s)
2024-10-16T07:36:51.853860Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2024-10-16T07:36:51.853869Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/set_parameters"}
2024-10-16T07:36:51.853875Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): activate
2024-10-16T07:36:51.853885Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.4' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 52, 59]
2024-10-16T07:36:51.853995Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Received liveliness event: PUT on @/c36aa27fa7b5153d27189ed9b3242682/@ros2_lv/SS/talker§list_parameters/rcl_interfaces§srv§ListParameters
2024-10-16T07:36:51.854009Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge c36aa27fa7b5153d27189ed9b3242682 announces Service Server talker/list_parameters
2024-10-16T07:36:51.854018Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): creation with type rcl_interfaces/srv/ListParameters (queries_timeout=5s)
2024-10-16T07:36:51.854024Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2024-10-16T07:36:51.854032Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): now serving remote routes {"c36aa27fa7b5153d27189ed9b3242682:talker/list_parameters"}
2024-10-16T07:36:51.854038Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): activate
2024-10-16T07:36:51.854047Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_service_cli: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters): using id '1.10.94.d6.37.a0.d1.52.c3.c8.3a.f9.0.0.0.5' => USER_DATA=[115, 101, 114, 118, 105, 99, 101, 105, 100, 61, 32, 49, 46, 49, 48, 46, 57, 52, 46, 100, 54, 46, 51, 55, 46, 97, 48, 46, 100, 49, 46, 53, 50, 46, 99, 51, 46, 99, 56, 46, 51, 97, 46, 102, 57, 46, 48, 46, 48, 46, 48, 46, 53, 59]
2024-10-16T07:36:51.954669Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 9 writers and 7 readers
2024-10-16T07:36:54.766676Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 0110bbbaa31a2d69eaf51208000001c1)
2024-10-16T07:36:54.768584Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 0110bbbaa31a2d69eaf5120800000403 from Participant 0110bbbaa31a2d69eaf51208000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:54.768655Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 0110bbbaa31a2d69eaf5120800000603 from Participant 0110bbbaa31a2d69eaf51208000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:54.768804Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 0110bbbaa31a2d69eaf5120800000504 from Participant 0110bbbaa31a2d69eaf51208000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:54.787377Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 0110bbbaa31a2d69eaf51208000001c1 with nodes: [/_ros2cli_75171]
2024-10-16T07:36:54.787397Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_75171
2024-10-16T07:36:54.787428Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75171 declares a new Writer on rt/rosout
2024-10-16T07:36:54.787442Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /_ros2cli_75171 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:54.787451Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650", "/_ros2cli_75171"}
2024-10-16T07:36:54.795887Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 0110bbbaa31a2d69eaf5120800000703 from Participant 0110bbbaa31a2d69eaf51208000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:54.888526Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 0110bbbaa31a2d69eaf51208000001c1 with nodes: [/_ros2cli_75171]
2024-10-16T07:36:54.888614Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75171 declares a new Writer on rt/parameter_events
2024-10-16T07:36:54.888715Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /_ros2cli_75171 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:54.888768Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_75171", "/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650"}
2024-10-16T07:36:55.298090Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 0110bbbaa31a2d69eaf5120800000804 from Participant 0110bbbaa31a2d69eaf51208000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true)
2024-10-16T07:36:55.394609Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 0110bbbaa31a2d69eaf51208000001c1 with nodes: [/_ros2cli_75171]
2024-10-16T07:36:55.394643Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75171 declares a new Reader on rt/chatter
2024-10-16T07:36:55.394698Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Node /_ros2cli_75171 declares Subscriber /chatter: std_msgs/msg/String - Allowed
2024-10-16T07:36:55.394706Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving local nodes {"/_ros2cli_75171"}
2024-10-16T07:36:55.394710Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) activate
2024-10-16T07:36:55.395152Z DEBUG                net-0 ThreadId(10) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter) MatchingStatus changed: MatchingStatus { matching: true }
2024-10-16T07:36:55.395204Z DEBUG                net-0 ThreadId(10) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/chatter -> Zenoh:chatter): create Reader with Qos { user_data: None, topic_data: None, group_data: None, durability: None, durability_service: None, presentation: None, deadline: None, latency_budget: None, ownership: None, ownership_strength: None, liveliness: None, time_based_filter: None, partition: None, reliability: Some(Reliability { kind: RELIABLE, max_blocking_time: 100000000 }), transport_priority: None, lifespan: None, destination_order: None, history: Some(History { kind: KEEP_LAST, depth: 5 }), resource_limits: None, writer_data_lifecycle: None, reader_data_lifecycle: None, writer_batching: None, type_consistency: None, entity_name: None, properties: None, ignore_local: Some(IgnoreLocal { kind: PARTICIPANT }), data_representation: None }
2024-10-16T07:36:55.495915Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::ros_discovery: Publish update on 'ros_discovery_info' with 9 writers and 8 readers
2024-10-16T07:36:58.197282Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Node /_ros2cli_75171 undeclares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:58.197300Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650"}
2024-10-16T07:36:58.197384Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Node /_ros2cli_75171 undeclares Subscriber /chatter: std_msgs/msg/String - Allowed
2024-10-16T07:36:58.197393Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving local nodes {}
2024-10-16T07:36:58.197397Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) deactivate
2024-10-16T07:36:58.198443Z  INFO tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds: Node /_ros2cli_75171 undeclares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:58.198450Z DEBUG tokio-runtime-worker ThreadId(09) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650"}
2024-10-16T07:36:58.225545Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 0110bbbaa31a2d69eaf51208000001c1 with nodes: []
2024-10-16T07:36:58.225564Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: Undiscovered ROS Node /_ros2cli_75171
2024-10-16T07:36:59.226374Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS Participant 011066d989fa061eba7b3f94000001c1)
2024-10-16T07:36:59.230743Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011066d989fa061eba7b3f9400000403 from Participant 011066d989fa061eba7b3f94000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:59.230814Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011066d989fa061eba7b3f9400000603 from Participant 011066d989fa061eba7b3f94000001c1 on rt/rosout with type rcl_interfaces::msg::dds_::Log_ (keyless: true)
2024-10-16T07:36:59.230943Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011066d989fa061eba7b3f9400000504 from Participant 011066d989fa061eba7b3f94000001c1 on ros_discovery_info with type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ (keyless: true)
2024-10-16T07:36:59.256462Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS publication 011066d989fa061eba7b3f9400000703 from Participant 011066d989fa061eba7b3f94000001c1 on rt/parameter_events with type rcl_interfaces::msg::dds_::ParameterEvent_ (keyless: true)
2024-10-16T07:36:59.337049Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 011066d989fa061eba7b3f94000001c1 with nodes: [/_ros2cli_75212]
2024-10-16T07:36:59.337108Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_75212
2024-10-16T07:36:59.337122Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75212 declares a new Writer on rt/parameter_events
2024-10-16T07:36:59.337128Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75212 declares a new Writer on rt/rosout
2024-10-16T07:36:59.337138Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Node /_ros2cli_75212 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-16T07:36:59.337147Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650", "/_ros2cli_75212"}
2024-10-16T07:36:59.337155Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Node /_ros2cli_75212 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-16T07:36:59.337159Z DEBUG tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::route_publisher: Route Publisher (ROS:/rosout -> Zenoh:rosout) now serving local nodes {"/_ros2cli_daemon_0_dfdc2b4962034e2a9e045c9865ca0650", "/_ros2cli_75212"}
2024-10-16T07:36:59.758724Z DEBUG ThreadId(12) zenoh_plugin_ros2dds::dds_discovery: Discovered DDS subscription 011066d989fa061eba7b3f9400000804 from Participant 011066d989fa061eba7b3f94000001c1 on rt/chatter with type std_msgs::msg::dds_::String_ (keyless: true)
2024-10-16T07:36:59.843273Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovery_mgr: Received ros_discovery_info from participant 011066d989fa061eba7b3f94000001c1 with nodes: [/_ros2cli_75212]
2024-10-16T07:36:59.843374Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: ROS Node /_ros2cli_75212 declares a new Reader on rt/chatter
2024-10-16T07:36:59.843390Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /_ros2cli_75212 declares Subscriber /chatter: std_msgs/msg/String - Allowed
2024-10-16T07:36:59.843396Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) now serving local nodes {"/_ros2cli_75212"}
2024-10-16T07:36:59.843481Z DEBUG tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::route_subscriber: Route Subscriber (Zenoh:chatter -> ROS:/chatter) activate