It’s potentially worth noting that since Humble / 22.04 Rolling moved to Fast-DDS, we have seen an uptick in issues relating to communication failures.
- Fast-DDS Service Reliability sometimes hangs lifecycle manager · Issue #3033 · ros-navigation/navigation2 · GitHub
- Obstacle Layer, Voxel Layer, and Costmap Topic Collision Checker not working in Humble/Rolling due to Fast-DDS Regression · Issue #3014 · ros-navigation/navigation2 · GitHub
- Nav2 lifecycle manager won't startup nodes · Issue #2917 · ros-navigation/navigation2 · GitHub
- FastDDS without Discovery Server? - ROS General - Open Robotics Discourse
If switching DDS providers, it solves them. I’d like to work with eProsima to get these resolved so that we can support Nav2 users in Fast-DDS as well, but there are some hiccups to be worked through.