Unable to use VisualSlamNode with intra-process comms when running with composition

When running the VisualSlamNode with as composed in the same component container with e.g. the camera driver, it would be desirable to enable intra-process comms to enable transmitting the camera data more efficiently. However, this is not possible in the latest version v2.1.0, because there is apparently some topic with a transient local QoS included in the intra-process topics. Previously in 0.31.0-dp (which we just upgraded from) using intra-process comms worked.

I did not have time to thoroughly investigate which topic causes this, but I suspect the publisher to /tf_static (I did check most of the topics and everything that I saw had a volatile durability, while /tf_static obviously will have the transient local one). I am not sure why this node would need to publish static transforms, but if it is needed, it would be good to exclude it from the intra-process stuff.

For reference, here is how my launch of the node essentially looks like (this is part of a quite large launch file, so I'm leaving out some other nodes etc that are irrelevant for this issue):

def generate_launch_description():
    visual_slam_node = ComposableNode(
        name="visual_slam_node",
        namespace="camera_1",
        package="isaac_ros_visual_slam",
        plugin="nvidia::isaac_ros::visual_slam::VisualSlamNode",
        extra_arguments=[{"use_intra_process_comms": True}],  # including this line breaks the launch
        parameters=[
            {
                "denoise_input_images": False,
                "rectified_images": True,
                "enable_imu_fusion": False,
                "enable_debug_mode": False,
                "debug_dump_path": "/tmp/elbrus_1",
                "enable_slam_visualization": False,
                "enable_localization_n_mapping": False,
                "enable_landmarks_view": False,
                "enable_observations_view": False,
                "publish_map_to_odom_tf": False,
                "publish_odom_to_base_tf": False,
                "map_frame": "map",
                "odom_frame": "odom",
                "base_frame": "base_link",
                "input_base_frame": "base_link", 
                "input_left_camera_frame": "camera_1_infra1_frame",
                "input_right_camera_frame": "camera_1_infra2_frame",
                "input_imu_frame": "camera_1_imu_optical_frame",
            }
        ],
    )
    cam_container = ComposableNodeContainer(
        name="camera_1_container",
        namespace="camera_1",
        package="rclcpp_components",
        executable="component_container",  # it does not matter which container you use for this
        emulate_tty=True,
        composable_node_descriptions=[visual_slam_node],
        output={"both": {"screen", "log", "own_log"}},
        arguments=["--ros-args", "--log-level", "info"],
    )
    return LaunchDescription([cam_container])

Here are the relevant parts of the logs that I see when launching with the above setup. Note the error about intraprocess communication only being allowed with volatile durability.

[INFO] [component_container_isolated-1]: process started with pid [82]
[component_container_isolated-1] [INFO] [1704372041.453758765] [camera_1.camera_1_container]: Load Library: /karelics_workspace/karelics_brain/package_ws/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container_isolated-1] [INFO] [1704372041.767271885] [camera_1.camera_1_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[component_container_isolated-1] [INFO] [1704372041.767408176] [camera_1.camera_1_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::visual_slam::VisualSlamNode>
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'visual_slam_node' of type 'nvidia::isaac_ros::visual_slam::VisualSlamNode' in container '/camera_1/camera_1_container': Component constructor threw an exception: intraprocess communication allowed only with volatile durability
[component_container_isolated-1] [ERROR] [1704372043.184402808] [camera_1.camera_1_container]: Component constructor threw an exception: intraprocess communication allowed only with volatile durability