FastRTPS/Connext Action tests are suspiciously short, and probably don't work

Bug report

Required Info:

• Operating System:
  • Ubuntu Bionic
• Installation type:
  • source
• Version or commit hash:
  • https://gist.github.com/sloretz/6e5d7324b115da574d79c7e785d8968e
• DDS implementation:
  • Fast-RTPS + RTI Connext
• Client library (if applicable):
  • clcpp

Steps to reproduce issue

1. Run the action test using rclcpp with fastrtps and connext

colcon test --event-handlers console_direct+ --packages-select test_communication --ctest-args -R test_action_client_server__Fibonacci__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp

1. Run the executables the above test should be running on their own

   RMW_IMPLEMENTATION=rmw_fastrtps_cpp ./build/test_communication/test_action_client_cpp Fibonacci /foo/bar
   

   RMW_IMPLEMENTATION=rmw_connext_cpp ./build/test_communication/test_action_server_cpp Fibonacci /foo/bar
   

Expected behavior

1. The test would pass, taking about a second or so, and outputting info about goals and feedback
2. Run independently the tests should output information about goals and feedback

Actual behavior

1. The test passes in 0.1 seconds with no output
2. Run independently the client says it sent a goal, but the server does not print a message saying it received it.

Additional information

Same behavior if the rmw implementations are flipped so it's a connext client with fastrtps server. If both are fastrtps or both are connext it works as expected. The service/client and subscriber/publisher tests appear to work fine across fastrtps and connext.

Start with the test_action_client_server__Fibonacci__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp test in test_communication and reproduce it with the provided colcon test command. Then run test_action_client_cpp and test_action_server_cpp independently using the shown RMW implementations. Done means mixed Fast-RTPS and Connext action tests exchange goals and feedback and take about a second rather than passing silently.