运行过程中报错：Failed to send request: cannot publish data

[rty813]

Operating System:
Ubuntu 16.04
Installation type:
from source
Version or commit hash:
Foxy
DDS implementation:
CycloneDDS
Client library (if applicable):
rclpy

运行过程中突然报错：

Exception in thread Thread-26:
Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.8/threading.py", line 870, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/executors.py", line 290, in spin
    self.spin_once()
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/executors.py", line 770, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/executors.py", line 767, in _spin_once_impl
    future.result()
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/task.py", line 94, in result
    raise self.exception()
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/executors.py", line 429, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/executors.py", line 384, in _execute_service
    srv.send_response(response, header)
  File "/opt/ros/foxy/install/lib/python3.8/site-packages/rclpy/service.py", line 74, in send_response
    _rclpy.rclpy_send_response(capsule, response, header)
_rclpy.RCLError: Failed to send request: cannot publish data, at /opt/ros/foxy/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/rmw_node.cpp:3605, at /opt/ros/foxy/src/ros2/rcl/rcl/src/rcl/service.c:356

然后程序就无法正常触发ROS2回调了
关联Github Issue

[466288281]

dds中间件出错了，，简单点就是用新版本的，。。。这个太老了很难保证是不是有坑埋在序列化反序列化中