static_transform_publisher starts failing after many nodes

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04.2 LTS
• Installation type:
  • binaries
• Version or commit hash:
  • ros-foxy-desktop/focal,now 0.9.2-1focal.20210226.004308 amd64
• DDS implementation:
  • default implementation
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

1. Clone repo

git clone https://github.com/ARC-Advanced-Robotics-Construction/test-ros2.git

2. Move into directory

cd test-ros2

3. Build

colcon build --packages-select test_stfp

4. Source setup.bash

source install/setup.bash

5. Run

ros2 launch test_stfp test_static_transform_publisher.py

6. Check that frames work

ros2 run tf2_ros tf2_echo frame_0 frame_1

7. Change number of frames and repeat

• Open src/test_stfp/launch/test_static_transform_publisher.py
• Change the argument to get_nodes in the function generate_launch_description
• Repeat steps 3, 5, and 6

Expected behavior

The transform from frame_0 to frame_1 will always be returned

Actual behavior

Once ~100 or more static transform nodes are started, the frames do not exist.

Additional information

Sometimes 100 nodes works, sometimes it doesn't. 99 has always worked, and 101 has never worked.