[Bug] Service Client destroyed when no Service Server exists causes complete stop

[Morgantiz]

Describe the bug

I'm using zenoh bridge to communicate between two PCs with CycloneDDS as RMW with HUMBLE ROS2 distro. The two PCs are connected via WiFi and they are both running zenoh_bridge_ros2dds one with 'router' mode and the other one with 'client' mode. I'm running the zenoh bridge on a Docker container with base image ros-humble-ros-base and zenoh_bridge_ros2dds installed from source following the README guidelines.

To reproduce

Communication test:

1. Start zenoh_bridge_ros2dds on router PC
2. Start zenoh_bridge_ros2dds on client PC
3. Start talker ros2 run demo_nodes_cpp talker on router PC
4. Start listener ros2 run demo_nodes_cpp listener on client PC

When listener started listening the talker i followed these steps:

1. Run the service client ros2 run demo_nodes_cpp add_two_ints_client
2. Stop the add_two_ints_client node (for example with Keyboard interruption ^C)

Now the listener does not receives anymore the messages coming from the talker.

Zenoh router log output:

2025-01-21T13:29:29.693912Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.1.1
2025-01-21T13:29:29.694910Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: Zenoh Config(Config { id: 7548557fa139b3481bd072935a16100c, metadata: Null, mode: Some(Router), connect: ConnectConfig { timeout_ms: None, endpoints: Unique([]), exit_on_failure: None, retry: None }, listen: ListenConfig { timeout_ms: None, endpoints: Dependent(ModeValues { router: Some([tcp/[::]:7447]), peer: Some([tcp/[::]:0]), client: None }), exit_on_failure: None, retry: None }, open: OpenConf { return_conditions: ReturnConditionsConf { connect_scouted: None, declares: None } }, scouting: ScoutingConf { timeout: None, delay: None, multicast: ScoutingMulticastConf { enabled: None, address: None, interface: None, ttl: None, autoconnect: None, listen: None }, gossip: GossipConf { enabled: None, multihop: None, target: None, autoconnect: None } }, timestamping: TimestampingConf { enabled: Some(Unique(true)), drop_future_timestamp: None }, queries_default_timeout: None, routing: RoutingConf { router: RouterRoutingConf { peers_failover_brokering: None }, peer: PeerRoutingConf { mode: None }, interests: InterestsConf { timeout: None } }, aggregation: AggregationConf { subscribers: [], publishers: [] }, qos: QoSConfig { publication: PublisherQoSConfList([]) }, transport: TransportConf { unicast: TransportUnicastConf { open_timeout: 10000, accept_timeout: 10000, accept_pending: 100, max_sessions: 1000, max_links: 1, lowlatency: false, qos: QoSUnicastConf { enabled: true }, compression: CompressionUnicastConf { enabled: false } }, multicast: TransportMulticastConf { join_interval: Some(2500), max_sessions: Some(1000), qos: QoSMulticastConf { enabled: false }, compression: CompressionMulticastConf { enabled: false } }, link: TransportLinkConf { protocols: None, tx: LinkTxConf { sequence_number_resolution: U32, lease: 10000, keep_alive: 4, batch_size: 65535, queue: QueueConf { size: QueueSizeConf { control: 1, real_time: 1, interactive_high: 1, interactive_low: 1, data_high: 2, data: 4, data_low: 2, background: 1 }, congestion_control: CongestionControlConf { drop: CongestionControlDropConf { wait_before_drop: 1000, max_wait_before_drop_fragments: 50000 }, block: CongestionControlBlockConf { wait_before_close: 5000000 } }, batching: BatchingConf { enabled: true, time_limit: 1 } }, threads: 3 }, rx: LinkRxConf { buffer_size: 65535, max_message_size: 1073741824 }, tls: TLSConf { root_ca_certificate: None, listen_private_key: None, listen_certificate: None, enable_mtls: None, connect_private_key: None, connect_certificate: None, verify_name_on_connect: None, close_link_on_expiration: None, so_sndbuf: None, so_rcvbuf: None, root_ca_certificate_base64: None, listen_private_key_base64: None, listen_certificate_base64: None, connect_private_key_base64: None, connect_certificate_base64: None }, tcp: TcpConf { so_sndbuf: None, so_rcvbuf: None }, unixpipe: UnixPipeConf { file_access_mask: None } }, shared_memory: ShmConf { enabled: true }, auth: AuthConf { usrpwd: UsrPwdConf { user: None, password: None, dictionary_file: None }, pubkey: PubKeyConf { public_key_pem: None, private_key_pem: None, public_key_file: None, private_key_file: None, key_size: None, known_keys_file: None } } }, adminspace: AdminSpaceConf { enabled: true, permissions: PermissionsConf { read: true, write: false } }, downsampling: [], access_control: AclConfig { enabled: false, default_permission: Deny, rules: None, subjects: None, policies: None }, plugins_loading: PluginsLoading { enabled: true, search_dirs: LibSearchDirs([Spec(LibSearchSpec { kind: CurrentExeParent, value: None }), Path("."), Path("~/.zenoh/lib"), Path("/opt/homebrew/lib"), Path("/usr/local/lib"), Path("/usr/lib")]) }, plugins: Object {"ros2dds": Object {"domain": Number(73), "ros_localhost_only": Bool(true)}} })
2025-01-21T13:29:29.695039Z  INFO main ThreadId(01) zenoh::net::runtime: Using ZID: 7548557fa139b3481bd072935a16100c
2025-01-21T13:29:29.695377Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "ros2dds"
2025-01-21T13:29:29.695674Z  INFO main ThreadId(01) zenoh::api::loader: Successfully started plugin ros2dds from "__static_lib__"
2025-01-21T13:29:29.695688Z  INFO main ThreadId(01) zenoh::api::loader: Finished loading plugins
2025-01-21T13:29:29.695696Z  INFO tokio-runtime-worker ThreadId(13) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 73, ros_localhost_only: true, ros_automatic_discovery_range: None, ros_static_peers: None, allowance: None, pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: Some(QueriesTimeouts { default: 5.0, transient_local_subscribers: [], services: [], actions: Some(ActionsTimeouts { send_goal: [], cancel_goal: [], get_result: [(Regex(".*"), 300.0)] }) }), reliable_routes_blocking: true, pub_priorities: [], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }
... 

2025-01-21T13:29:44.593203Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /talker
2025-01-21T13:29:44.593311Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:29:44.593462Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) created
2025-01-21T13:29:44.593778Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2025-01-21T13:29:44.593957Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created
2025-01-21T13:29:44.594065Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2025-01-21T13:29:44.594201Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2025-01-21T13:29:44.594288Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2025-01-21T13:29:44.594605Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/rosout -> Zenoh:rosout) created
2025-01-21T13:29:44.594733Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2025-01-21T13:29:44.594893Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2025-01-21T13:29:44.594972Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Publisher /chatter: std_msgs/msg/String - Allowed
2025-01-21T13:29:44.595007Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/chatter -> Zenoh:chatter) created
2025-01-21T13:29:44.595043Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2025-01-21T13:29:44.595273Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2025-01-21T13:29:44.595412Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2025-01-21T13:29:44.595530Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2025-01-21T13:29:44.595635Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:29:44.595667Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) created
2025-01-21T13:29:44.595731Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2025-01-21T13:29:44.595868Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2025-01-21T13:29:53.668793Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Subscriber chatter - Allowed
2025-01-21T13:29:53.668882Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Subscriber parameter_events - Allowed
2025-01-21T13:29:53.668920Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Publisher parameter_events - Allowed
2025-01-21T13:29:53.668951Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/get_parameter_types - Allowed
2025-01-21T13:29:53.669366Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/get_parameter_types <-> Zenoh:listener/get_parameter_types) created
2025-01-21T13:29:53.669423Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/set_parameters - Allowed
2025-01-21T13:29:53.669777Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/set_parameters <-> Zenoh:listener/set_parameters) created
2025-01-21T13:29:53.669838Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Publisher rosout - Allowed
2025-01-21T13:29:53.669962Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:rosout -> ROS:/rosout) created
2025-01-21T13:29:53.670011Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/get_parameters - Allowed
2025-01-21T13:29:53.670260Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/get_parameters <-> Zenoh:listener/get_parameters) created
2025-01-21T13:29:53.670314Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/describe_parameters - Allowed
2025-01-21T13:29:53.670571Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/describe_parameters <-> Zenoh:listener/describe_parameters) created
2025-01-21T13:29:53.670631Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/list_parameters - Allowed
2025-01-21T13:29:53.670846Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/list_parameters <-> Zenoh:listener/list_parameters) created
2025-01-21T13:29:53.670888Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server listener/set_parameters_atomically - Allowed
2025-01-21T13:29:53.671309Z  INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/listener/set_parameters_atomically <-> Zenoh:listener/set_parameters_atomically) created
2025-01-21T13:30:00.431538Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/describe_parameters - Allowed
2025-01-21T13:30:00.432138Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/describe_parameters <-> Zenoh:add_two_ints_client/describe_parameters) created
2025-01-21T13:30:00.432196Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/list_parameters - Allowed
2025-01-21T13:30:00.432357Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/list_parameters <-> Zenoh:add_two_ints_client/list_parameters) created
2025-01-21T13:30:00.432380Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/get_parameters - Allowed
2025-01-21T13:30:00.432506Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/get_parameters <-> Zenoh:add_two_ints_client/get_parameters) created
2025-01-21T13:30:00.432527Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/set_parameters - Allowed
2025-01-21T13:30:00.432662Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/set_parameters <-> Zenoh:add_two_ints_client/set_parameters) created
2025-01-21T13:30:00.432682Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Client add_two_ints - Allowed
2025-01-21T13:30:00.432782Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints <-> Zenoh:add_two_ints) created
2025-01-21T13:30:00.432801Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/get_parameter_types - Allowed
2025-01-21T13:30:00.432910Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/get_parameter_types <-> Zenoh:add_two_ints_client/get_parameter_types) created
2025-01-21T13:30:00.432933Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e announces Service Server add_two_ints_client/set_parameters_atomically - Allowed
2025-01-21T13:30:00.433051Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints_client/set_parameters_atomically <-> Zenoh:add_two_ints_client/set_parameters_atomically) created
2025-01-21T13:30:03.696842Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: Remote bridge d6c059720a14624f6064661ac525048e retires Service Client add_two_ints - Allowed
2025-01-21T13:30:03.696890Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints <-> Zenoh:add_two_ints) removed

Zenoh client log output:

2025-01-21T13:29:38.270982Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.1.1
2025-01-21T13:29:38.271596Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: Zenoh Config(Config { id: d6c059720a14624f6064661ac525048e, metadata: Null, mode: Some(Client), connect: ConnectConfig { timeout_ms: None, endpoints: Unique([]), exit_on_failure: None, retry: None }, listen: ListenConfig { timeout_ms: None, endpoints: Dependent(ModeValues { router: Some([tcp/[::]:7447]), peer: Some([tcp/[::]:0]), client: None }), exit_on_failure: None, retry: None }, open: OpenConf { return_conditions: ReturnConditionsConf { connect_scouted: None, declares: None } }, scouting: ScoutingConf { timeout: None, delay: None, multicast: ScoutingMulticastConf { enabled: None, address: None, interface: None, ttl: None, autoconnect: None, listen: None }, gossip: GossipConf { enabled: None, multihop: None, target: None, autoconnect: None } }, timestamping: TimestampingConf { enabled: Some(Unique(true)), drop_future_timestamp: None }, queries_default_timeout: None, routing: RoutingConf { router: RouterRoutingConf { peers_failover_brokering: None }, peer: PeerRoutingConf { mode: None }, interests: InterestsConf { timeout: None } }, aggregation: AggregationConf { subscribers: [], publishers: [] }, qos: QoSConfig { publication: PublisherQoSConfList([]) }, transport: TransportConf { unicast: TransportUnicastConf { open_timeout: 10000, accept_timeout: 10000, accept_pending: 100, max_sessions: 1000, max_links: 1, lowlatency: false, qos: QoSUnicastConf { enabled: true }, compression: CompressionUnicastConf { enabled: false } }, multicast: TransportMulticastConf { join_interval: Some(2500), max_sessions: Some(1000), qos: QoSMulticastConf { enabled: false }, compression: CompressionMulticastConf { enabled: false } }, link: TransportLinkConf { protocols: None, tx: LinkTxConf { sequence_number_resolution: U32, lease: 10000, keep_alive: 4, batch_size: 65535, queue: QueueConf { size: QueueSizeConf { control: 1, real_time: 1, interactive_high: 1, interactive_low: 1, data_high: 2, data: 4, data_low: 2, background: 1 }, congestion_control: CongestionControlConf { drop: CongestionControlDropConf { wait_before_drop: 1000, max_wait_before_drop_fragments: 50000 }, block: CongestionControlBlockConf { wait_before_close: 5000000 } }, batching: BatchingConf { enabled: true, time_limit: 1 } }, threads: 6 }, rx: LinkRxConf { buffer_size: 65535, max_message_size: 1073741824 }, tls: TLSConf { root_ca_certificate: None, listen_private_key: None, listen_certificate: None, enable_mtls: None, connect_private_key: None, connect_certificate: None, verify_name_on_connect: None, close_link_on_expiration: None, so_sndbuf: None, so_rcvbuf: None, root_ca_certificate_base64: None, listen_private_key_base64: None, listen_certificate_base64: None, connect_private_key_base64: None, connect_certificate_base64: None }, tcp: TcpConf { so_sndbuf: None, so_rcvbuf: None }, unixpipe: UnixPipeConf { file_access_mask: None } }, shared_memory: ShmConf { enabled: true }, auth: AuthConf { usrpwd: UsrPwdConf { user: None, password: None, dictionary_file: None }, pubkey: PubKeyConf { public_key_pem: None, private_key_pem: None, public_key_file: None, private_key_file: None, key_size: None, known_keys_file: None } } }, adminspace: AdminSpaceConf { enabled: true, permissions: PermissionsConf { read: true, write: false } }, downsampling: [], access_control: AclConfig { enabled: false, default_permission: Deny, rules: None, subjects: None, policies: None }, plugins_loading: PluginsLoading { enabled: true, search_dirs: LibSearchDirs([Spec(LibSearchSpec { kind: CurrentExeParent, value: None }), Path("."), Path("~/.zenoh/lib"), Path("/opt/homebrew/lib"), Path("/usr/local/lib"), Path("/usr/lib")]) }, plugins: Object {"ros2dds": Object {"domain": Number(13), "ros_localhost_only": Bool(true)}} })
2025-01-21T13:29:38.271653Z  INFO main ThreadId(01) zenoh::net::runtime: Using ZID: d6c059720a14624f6064661ac525048e
2025-01-21T13:29:38.271835Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "ros2dds"
2025-01-21T13:29:38.272083Z  INFO main ThreadId(01) zenoh::api::loader: Successfully started plugin ros2dds from "__static_lib__"
2025-01-21T13:29:38.272093Z  INFO main ThreadId(01) zenoh::api::loader: Finished loading plugins
2025-01-21T13:29:38.272110Z  INFO main ThreadId(01) zenoh::net::runtime::orchestrator: Scouting...
2025-01-21T13:29:38.272187Z  INFO tokio-runtime-worker ThreadId(11) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 13, ros_localhost_only: true, ros_automatic_discovery_range: None, ros_static_peers: None, allowance: None, pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: Some(QueriesTimeouts { default: 5.0, transient_local_subscribers: [], services: [], actions: Some(ActionsTimeouts { send_goal: [], cancel_goal: [], get_result: [(Regex(".*"), 300.0)] }) }), reliable_routes_blocking: true, pub_priorities: [], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }

....

2025-01-21T13:29:44.769360Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Subscriber parameter_events - Allowed
2025-01-21T13:29:44.769447Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) created
2025-01-21T13:29:44.770308Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/get_parameters - Allowed
2025-01-21T13:29:44.770348Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created
2025-01-21T13:29:44.770364Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/list_parameters - Allowed
2025-01-21T13:29:44.770383Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2025-01-21T13:29:44.770398Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Publisher rosout - Allowed
2025-01-21T13:29:44.770489Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:rosout -> ROS:/rosout) created
2025-01-21T13:29:44.770506Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/get_parameter_types - Allowed
2025-01-21T13:29:44.770522Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2025-01-21T13:29:44.770538Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Publisher chatter - Allowed
2025-01-21T13:29:44.770568Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:chatter -> ROS:/chatter) created
2025-01-21T13:29:44.770575Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/set_parameters_atomically - Allowed
2025-01-21T13:29:44.770587Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2025-01-21T13:29:44.770599Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/set_parameters - Allowed
2025-01-21T13:29:44.770616Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2025-01-21T13:29:44.772074Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Publisher parameter_events - Allowed
2025-01-21T13:29:44.772152Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) created
2025-01-21T13:29:44.772174Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Remote bridge 7548557fa139b3481bd072935a16100c announces Service Server talker/describe_parameters - Allowed
2025-01-21T13:29:44.772216Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2025-01-21T13:29:53.746081Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /listener
2025-01-21T13:29:53.746161Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Subscriber /chatter: std_msgs/msg/String - Allowed
2025-01-21T13:29:53.746747Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:29:53.747017Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:29:53.747113Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2025-01-21T13:29:53.747266Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/get_parameter_types <-> Zenoh:listener/get_parameter_types) created
2025-01-21T13:29:53.747384Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2025-01-21T13:29:53.747498Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/set_parameters <-> Zenoh:listener/set_parameters) created
2025-01-21T13:29:53.747608Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2025-01-21T13:29:53.747721Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/rosout -> Zenoh:rosout) created
2025-01-21T13:29:53.747751Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2025-01-21T13:29:53.747834Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/get_parameters <-> Zenoh:listener/get_parameters) created
2025-01-21T13:29:53.747874Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2025-01-21T13:29:53.747930Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/describe_parameters <-> Zenoh:listener/describe_parameters) created
2025-01-21T13:29:53.747984Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2025-01-21T13:29:53.748036Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/list_parameters <-> Zenoh:listener/list_parameters) created
2025-01-21T13:29:53.748073Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds: Node /listener declares Service Server /listener/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2025-01-21T13:29:53.748124Z  INFO tokio-runtime-worker ThreadId(12) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/listener/set_parameters_atomically <-> Zenoh:listener/set_parameters_atomically) created
2025-01-21T13:30:00.317444Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /add_two_ints_client
2025-01-21T13:30:00.317555Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:30:00.317571Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2025-01-21T13:30:00.317732Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/describe_parameters <-> Zenoh:add_two_ints_client/describe_parameters) created
2025-01-21T13:30:00.317867Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2025-01-21T13:30:00.317962Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/list_parameters <-> Zenoh:add_two_ints_client/list_parameters) created
2025-01-21T13:30:00.318054Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2025-01-21T13:30:00.318152Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/get_parameters <-> Zenoh:add_two_ints_client/get_parameters) created
2025-01-21T13:30:00.318224Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2025-01-21T13:30:00.318233Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2025-01-21T13:30:00.318321Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/set_parameters <-> Zenoh:add_two_ints_client/set_parameters) created
2025-01-21T13:30:00.318398Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Client /add_two_ints: example_interfaces/srv/AddTwoInts - Allowed
2025-01-21T13:30:00.318427Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints <-> Zenoh:add_two_ints) created
2025-01-21T13:30:00.318469Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2025-01-21T13:30:00.318481Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2025-01-21T13:30:00.318651Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/get_parameter_types <-> Zenoh:add_two_ints_client/get_parameter_types) created
2025-01-21T13:30:00.318736Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client declares Service Server /add_two_ints_client/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2025-01-21T13:30:00.318817Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/add_two_ints_client/set_parameters_atomically <-> Zenoh:add_two_ints_client/set_parameters_atomically) created
2025-01-21T13:30:03.865238Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client undeclares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2025-01-21T13:30:03.866437Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: Node /add_two_ints_client undeclares Service Client /add_two_ints: example_interfaces/srv/AddTwoInts - Allowed
2025-01-21T13:30:03.866483Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/add_two_ints <-> Zenoh:add_two_ints) removed
2025-01-21T13:30:03.958355Z  INFO tokio-runtime-worker ThreadId(22) zenoh_plugin_ros2dds::discovered_entities: Undiscovered ROS Node /add_two_ints_client

System info

Distributor ID: Ubuntu
Description: Ubuntu 22.04.5 LTS
Release: 22.04
Codename: jammy

ROS DISTRO: Humble
ZENOH TAG: release/1.1.1

[RPRKLR]

I experience the same issue, tried with rmw_fastrtps_cpp and rmw_cyclonedds_cpp.
Distributor ID: Ubuntu
Description: Ubuntu 24.04.1 LTS
Release: 24.04
Codename: noble

ROS DISTRO: Jazzy
ZENOH TAG: release/1.1.1