Fix DDS service call interop with CycloneDDS and FastDDS#400
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alvgaona wants to merge 2 commits intoAtostek:masterfrom
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Fix DDS service call interop with CycloneDDS and FastDDS#400alvgaona wants to merge 2 commits intoAtostek:masterfrom
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…n discovery_db When a remote DDS implementation (e.g. CycloneDDS) omits per-endpoint locators in SEDP announcements and relies on the participant's default locators from SPDP, update_subscription() and update_publication() would store the raw data with empty locator lists. The enriched copy (with default locators filled in) was only returned for the immediate notification but never stored back. This caused endpoints created after initial SEDP discovery to get reader/writer proxies with empty locator lists, silently dropping all data. Service calls (single request/reply) failed 100% of the time. The fix builds the enriched data first, then stores the enriched version in external_topic_readers/external_topic_writers so that later lookups via readers_on_topic()/writers_on_topic() return usable locator information.
SampleIdentity is required to call WriteOptionsBuilder::related_sample_identity() but was not publicly accessible. It lived in structure::rpc which is pub(crate), making the public API method impossible to call from downstream crates. This is needed for ROS 2 service interop with FastDDS, which uses RTPS Inline QoS PID_RELATED_SAMPLE_IDENTITY for service request/reply correlation.
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Two fixes for ROS 2 DDS service call interop, each targeting a different DDS vendor: