{"action":"created","issue":{"url":"https://api.github.com/repos/ros2/demos/issues/302","repository_url":"https://api.github.com/repos/ros2/demos","labels_url":"https://api.github.com/repos/ros2/demos/issues/302/labels{/name}","comments_url":"https://api.github.com/repos/ros2/demos/issues/302/comments","events_url":"https://api.github.com/repos/ros2/demos/issues/302/events","html_url":"https://github.com/ros2/demos/issues/302","id":390906039,"node_id":"MDU6SXNzdWUzOTA5MDYwMzk=","number":302,"title":"[image_tools] Cannot run cam2image and showimage with different RMW implementations","user":{"login":"jacobperron","id":1218431,"node_id":"MDQ6VXNlcjEyMTg0MzE=","avatar_url":"https://avatars1.githubusercontent.com/u/1218431?v=4","gravatar_id":"","url":"https://api.github.com/users/jacobperron","html_url":"https://github.com/jacobperron","followers_url":"https://api.github.com/users/jacobperron/followers","following_url":"https://api.github.com/users/jacobperron/following{/other_user}","gists_url":"https://api.github.com/users/jacobperron/gists{/gist_id}","starred_url":"https://api.github.com/users/jacobperron/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jacobperron/subscriptions","organizations_url":"https://api.github.com/users/jacobperron/orgs","repos_url":"https://api.github.com/users/jacobperron/repos","events_url":"https://api.github.com/users/jacobperron/events{/privacy}","received_events_url":"https://api.github.com/users/jacobperron/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-12-13T23:35:22Z","updated_at":"2018-12-13T23:42:18Z","closed_at":null,"author_association":"MEMBER","body":"<!--\r\nFor general questions, please ask on ROS answers: https://answers.ros.org, make sure to include at least the `ros2` tag and the rosdistro version you are running, e.g. `ardent`.\r\nFor general design discussions, please post on discourse: https://discourse.ros.org/c/ng-ros\r\nNot sure if this is the right repository? Open an issue on https://github.com/ros2/ros2/issues\r\nFor Bug report or feature requests, please fill out the relevant category below\r\n-->\r\n\r\n## Bug report\r\n\r\n**Required Info:**\r\n\r\n- Operating System:\r\n  - OSX High Sierra\r\n- Installation type:\r\n  - Binaries (Crystal prerelease)\r\n- DDS implementation:\r\n  - Connext + FastRTPS or Connext + Opensplice\r\n\r\n\r\nCertain combinations of RMW implementations results in severe frame drops in image_tools demo. In particular, when Connext is involved.\r\n\r\n#### Steps to reproduce issue\r\n\r\n```bash\r\nRMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run image_tools showimage\r\n# In another terminal\r\nRMW_IMPLEMENTATION=rmw_connext_cpp ros2 run image_tools cam2image\r\n```\r\n\r\nor\r\n\r\n```bash\r\nRMW_IMPLEMENTATION=rmw_connext_cpp ros2 run image_tools showimage\r\n# In another terminal\r\nRMW_IMPLEMENTATION=rmw_opensplice_cpp ros2 run image_tools cam2image\r\n```\r\n\r\nResults in sporadic frames received.\r\n\r\n---\r\n\r\n```bash\r\nRMW_IMPLEMENTATION=rmw_connext_cpp ros2 run image_tools showimage\r\n# In another terminal\r\nRMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run image_tools cam2image\r\n```\r\n\r\nResults in a choppy video feed and we see this error repeated:\r\n```\r\n2018-12-13 15:25:07.491 [RTPS_WRITER Error] Cannot add DATA_FRAG submsg to the CDRMessage. Buffer too small -> Function add_data_frag\r\n2018-12-13 15:25:07.491 [RTPS_WRITER Error] Error sending fragment (78, 5) -> Function send_any_unsent_changes\r\n```\r\n\r\n#### Expected behavior\r\n\r\nNo issues with receiving video frames running the examples across different RMW implementations.\r\n\r\n#### Additional notes\r\n\r\nThere is no noted issues between FastRTPS and Opensplice.\r\n\r\nAlso, it seems that there is no issue with this combination:\r\n\r\n```bash\r\nRMW_IMPLEMENTATION=rmw_opensplice_cpp ros2 run image_tools showimage\r\n# In another terminal\r\nRMW_IMPLEMENTATION=rmw_connext_cpp ros2 run image_tools cam2image\r\n```"},"comment":{"url":"https://api.github.com/repos/ros2/demos/issues/comments/447161573","html_url":"https://github.com/ros2/demos/issues/302#issuecomment-447161573","issue_url":"https://api.github.com/repos/ros2/demos/issues/302","id":447161573,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0NzE2MTU3Mw==","user":{"login":"dirk-thomas","id":1335366,"node_id":"MDQ6VXNlcjEzMzUzNjY=","avatar_url":"https://avatars1.githubusercontent.com/u/1335366?v=4","gravatar_id":"","url":"https://api.github.com/users/dirk-thomas","html_url":"https://github.com/dirk-thomas","followers_url":"https://api.github.com/users/dirk-thomas/followers","following_url":"https://api.github.com/users/dirk-thomas/following{/other_user}","gists_url":"https://api.github.com/users/dirk-thomas/gists{/gist_id}","starred_url":"https://api.github.com/users/dirk-thomas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dirk-thomas/subscriptions","organizations_url":"https://api.github.com/users/dirk-thomas/orgs","repos_url":"https://api.github.com/users/dirk-thomas/repos","events_url":"https://api.github.com/users/dirk-thomas/events{/privacy}","received_events_url":"https://api.github.com/users/dirk-thomas/received_events","type":"User","site_admin":false},"created_at":"2018-12-13T23:42:18Z","updated_at":"2018-12-13T23:42:18Z","author_association":"MEMBER","body":"This has been reported before: ros2/rmw_fastrtps#202. That ticket focused on addressing the FastRTPS performance itself - not the cross vendor performance."}}
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