use_sim_time with this->now() and callback inconsistency after #619 in Humble #635
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- source
- Version or commit hash:
- latest humble
- DDS implementation:
- Fast-RTPS
Steps to reproduce issue
After #619 and #633 merged into humble, my simulation became very unreliable. It worked well before that PR, so I'm wondering if anyone else is having issues with it.
I don't have a good example yet, but with use_sim_time I have some callbacks that eventually stop updating about a minute after launching. Other times, in my callback this->now() freezes and stops updating even though the /clock topic is always updating. For example I have a callback from one subscription which transforms a message into another format then grabs this->now() and publishes it into a new topic. Since the time stops updating on the output of that callback, it breaks my simulation.
I've tried using various callback groups and the multi-threaded executor, but nothing seems to help.
Expected behavior
this->now() with use_sim_time should always update and never freeze