Multithreaded topics sometimes don't respond

Bug report

Required Info:

• Operating System:
  Ubuntu 22.04 humble
• Installation type:
  binaries
• Version or commit hash:
  Output of git rev-parse HEAD, release version, or repos file
• DDS implementation:
  rmw_implementation used Fast-RTPS
• Client library (if applicable):
  rclcpp

Steps to reproduce issue

I change https://github.com/ros2/examples/blob/humble/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp this demo , stop the timer and build another node to publish , but sometime the Subscription do not work . I do not sure the Subscription not received or some other error

Subscription

#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include <thread>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

/**
 * A small convenience function for converting a thread ID to a string
 **/
std::string string_thread_id()
{
  auto hashed = std::hash<std::thread::id>()(std::this_thread::get_id());
  return std::to_string(hashed);
}

class DualThreadedNode : public rclcpp::Node
{
public:
  DualThreadedNode()
  : Node("DualThreadedNode")
  {
    /* These define the callback groups
     * They don't really do much on their own, but they have to exist in order to
     * assign callbacks to them. They're also what the executor looks for when trying to run multiple threads
     */
    callback_group_subscriber1_ = this->create_callback_group(
      rclcpp::CallbackGroupType::MutuallyExclusive);
    callback_group_subscriber2_ = this->create_callback_group(
      rclcpp::CallbackGroupType::MutuallyExclusive);

    // Each of these callback groups is basically a thread
    // Everything assigned to one of them gets bundled into the same thread
    auto sub1_opt = rclcpp::SubscriptionOptions();
    sub1_opt.callback_group = callback_group_subscriber1_;
    auto sub2_opt = rclcpp::SubscriptionOptions();
    sub2_opt.callback_group = callback_group_subscriber2_;

    subscription1_ = this->create_subscription<std_msgs::msg::String>(
      "topic",
      rclcpp::QoS(10),
      // std::bind is sort of C++'s way of passing a function
      // If you're used to function-passing, skip these comments
      std::bind(
        &DualThreadedNode::subscriber1_cb,  // First parameter is a reference to the function
        this,                               // What the function should be bound to
        std::placeholders::_1),             // At this point we're not positive of all the
                                            // parameters being passed
                                            // So we just put a generic placeholder
                                            // into the binder
                                            // (since we know we need ONE parameter)
      sub1_opt);                  // This is where we set the callback group.
                                  // This subscription will run with callback group subscriber1

    subscription2_ = this->create_subscription<std_msgs::msg::String>(
      "topic",
      rclcpp::QoS(10),
      std::bind(
        &DualThreadedNode::subscriber2_cb,
        this,
        std::placeholders::_1),
      sub2_opt);
  }

private:
  /**
   * Simple function for generating a timestamp
   * Used for somewhat ineffectually demonstrating that the multithreading doesn't cripple performace
   */
  std::string timing_string()
  {
    rclcpp::Time time = this->now();
    return std::to_string(time.nanoseconds());
  }

  /**
   * Every time the Publisher publishes something, all subscribers to the topic get poked
   * This function gets called when Subscriber1 is poked (due to the std::bind we used when defining it)
   */
  void subscriber1_cb(const std_msgs::msg::String::ConstSharedPtr msg)
  {
    auto message_received_at = timing_string();

    // Extract current thread
    RCLCPP_INFO(
      this->get_logger(), "THREAD %s => Heard '%s' at %s",
      string_thread_id().c_str(), msg->data.c_str(), message_received_at.c_str());
  }

  /**
   * This function gets called when Subscriber2 is poked
   * Since it's running on a separate thread than Subscriber 1, it will run at (more-or-less) the same time!
   */
  void subscriber2_cb(const std_msgs::msg::String::ConstSharedPtr msg)
  {
    auto message_received_at = timing_string();

    // Prep display message
    RCLCPP_INFO(
      this->get_logger(), "THREAD %s => Heard '%s' at %s",
      string_thread_id().c_str(), msg->data.c_str(), message_received_at.c_str());
  }

  rclcpp::CallbackGroup::SharedPtr callback_group_subscriber1_;
  rclcpp::CallbackGroup::SharedPtr callback_group_subscriber2_;
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription1_;
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription2_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);

  // You MUST use the MultiThreadedExecutor to use, well, multiple threads
  rclcpp::executors::MultiThreadedExecutor executor;
  auto subnode = std::make_shared<DualThreadedNode>();  // This contains BOTH subscriber callbacks.
                                                        // They will still run on different threads
                                                        // One Node. Two callbacks. Two Threads
  executor.add_node(subnode);
  executor.spin();
  rclcpp::shutdown();
  return 0;
}

Publisher

// Created by ubuntu on 23-11-28.
//
#include <chrono>
#include <functional>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/bool.hpp"
#include <std_msgs/msg/string.hpp>

using namespace std::chrono_literals;
using std::placeholders::_1;

class ChangeWorkFrame: public rclcpp::Node
{
  public:
    ChangeWorkFrame();                                                                   
    void change_work_frame_programe();                                                 
  
  private:

    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;                 

    size_t count_;
};


void ChangeWorkFrame::change_work_frame_programe()
{
    std_msgs::msg::String change_work_frame;
    change_work_frame.data = "sss" + std::to_string(this->count_++);                          
    RCLCPP_INFO(this->get_logger(), " Publishing '%s'", change_work_frame.data.c_str());
    this->publisher_->publish(change_work_frame);
}
/***********************************************end**************************************************/


ChangeWorkFrame::ChangeWorkFrame():rclcpp::Node("changeframe")
{
  publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
  sleep(2);
  change_work_frame_programe();
}
/***********************************************end**************************************************/

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<ChangeWorkFrame>());
  rclcpp::shutdown();
  return 0;
}

Expected behavior

When I run the Publisher node the Subscription node will response.

Actual behavior

Sometimes Subscription not response.

Additional information

I want to use the multithreaded_executor in real scene like this response mechanism ，but when I try it have this problem .

Sincere thanks

Kaola

Start with rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp and the supplied publisher node; run them on Ubuntu 22.04/Humble with Fast-RTPS and capture whether both subscription callbacks receive each published message. Compare the observed behavior with the stated expected and actual behavior, then document a confirmed cause or reproducible correction.