Hello,
I tried to use the ROS 2 bridge with Fast DDS, yet BeamNG.tech crashes when trying to start the node. On the logs, there is this error: Segmentation fault (core dumped).
When I switched to Cyclone DDS, the bridge ran sucessfully. Is this a known issue? Is there a way to fix this without switching to Cyclone DDS? I am happy to provide any additional information.
Hello
There are known issues with rclcpp and Fast DDS, especially when using shared memory while using ROS2 from another software (which is exactly what is happening here). Most likely this does not come from our implementation, but from ROS2 and it subsystems themselves.
For simplicity, we recommend you to use Cyclone DDS.
If Fast DDS is mandatory on your side, you can try using Fast DDS with shared memory disabled, though this has not been approved on our side, and if it launches successfully, some sensors may not function properly.
We will also take a look on our side to see if we can find a workaround to allow you to use Fast DDS correctly.