Issues routing data between between multiple CycloneDDS participants

[stevemcnamaraultra]

Hello,

We have a need to route data from our system between two installations of our system over the Internet. Our expectation is that the bridge would perform this function for us.

Upon trying to use the bridge though we have hit across what appear to be limitations of it. Note I say appears here because it is not completely clear if this is issues with our setup or the bridge itself.

1. The bridge does not route disposed or unregistered events. These are marked as not valid data in the data reader and the bridge ignores them. It only routes valid data. This causes issues with us trying to delete information within our system.
2. The bridge does not appear to implement DDS liveliness handling. A participant disappearing at one end does not cause an equivalent liveliness lost event at the other end of the link. This breaks consistency in our system as one system has information that should have been removed.
3. The bridge does not seem to retain multiple samples published with reliable delivery. Instead it only delivers the last sample on a topic to a late joining participant.

We are using the latest versions of Zenoh_bridge_dds and CycloneDDS both built by ourselves, all running on the same Ubuntu 22.04 instance. Our test setup is:

• DDS participants and Zenoh_bridge_dds in peer mode on domain 26
• DDS participants and Zenoh_bridge_dds in peer mode on domain 30
• Zenohd running

(Apologies for this information being a bit terse. I can add more detail if relevant)

I am hoping that we might be able to get some feedback around what the current limitations of the bridge are. Is what we are observing about its functionality correct or have we misunderstood something?

We would be happy to support extending the bridge if that would be useful though guidance about appropriate directions to go in could be useful so as to not disturb existing usages.

We have discussed this issue with the CycloneDDS team and they recommended posting here to help further the discussion. The link to the original post is eclipse-cyclonedds/cyclonedds#2058.

[stevemcnamaraultra]

I know longer require this functionality.