[Bug] fix_210 branch did not fix issue #210: "long" actions still not returning result

[li9i]

Describe the bug

See #210. From my investigation I think this may be related to eclipse-zenoh/zenoh#1409 and ros2/rmw_zenoh#173.

To reproduce

1. Start two zenoh_bridge_ros2dds routers in two different machines.
2. In the first machine:

export ROS_DOMAIN_ID=100
source /opt/ros/$ROS_DISTRO/setup.bash
ros2 run examples_rclcpp_minimal_action_server action_server_member_functions

and the second:

export ROS_DOMAIN_ID=200
source /opt/ros/$ROS_DISTRO/setup.bash
ros2 run examples_rclcpp_minimal_action_client action_client_member_functions

3. If the fibonacci order is 1, then the execution time is less than a certain timeout threshold and the result returns from the action server to the action client. If the order is 10 then the execution time is more than the threshold and the result does not return. Client sees feedback either way.

• Output of zenoh_bridge_ros2dds on branch fix_210

WARN                net-0 ThreadId(22) zenoh::net::routing::dispatcher::queries: Didn't receive final reply Face{2, 76a083bfcd61b967011025b6e1ded8bc}:3 from Face{1, 8f01344ee82211abd23a4b0ad673d0db}: Timeout(5s)!
WARN ThreadId(28) zenoh::net::routing::dispatcher::queries: Route reply Face{1, 8f01344ee82211abd23a4b0ad673d0db}:3 from Face{1, 8f01344ee82211abd23a4b0ad673d0db}: Query not found!
WARN ThreadId(28) zenoh::net::routing::dispatcher::queries: Route final reply Face{1, 8f01344ee82211abd23a4b0ad673d0db}:3 from Face{1, 8f01344ee82211abd23a4b0ad673d0db}: Query not found!

• Output of zenoh_bridge_ros2dds on branch release/1.1.0

WARN                net-0 ThreadId(22) zenoh::net::routing::dispatcher::queries: Didn't receive final reply Face{1, e77ce76699699ce8c60eb08731c5f88d}:6 for Face{2, af5724c9827e036672269ac630c4475c}:6: Timeout(5s)!
WARN ThreadId(28) zenoh::net::routing::dispatcher::queries: Route reply Face{1, e77ce76699699ce8c60eb08731c5f88d}:6 from Face{1, e77ce76699699ce8c60eb08731c5f88d}: Query not found!
WARN ThreadId(28) zenoh::net::routing::dispatcher::queries: Route final reply Face{1, e77ce76699699ce8c60eb08731c5f88d}:6: Query not found!

System info

• Platform: Ubuntu 22.04
• ROS 2 version: humble
• Zenoh version/commit:
  • from fix_210 (9fe9b507e0c937943af3a8c5929f4558ddfa8b4d)
  • to release/1.1.0 (2aa5b54f0fff9a6c6b027a68d535d64131cf1513)