Can't change user_data in DATA(p) [12147]

[yooouxin]

When change participant user data qos at runtime,there is no change in DATA(p),but only takes effect locally.

Expected Behavior

I think when I change user data at runtime,other participant should get my new user data,not the old one.

Current Behavior

Change user data only takes effect locally.

Steps to Reproduce

1. create a new participant with a user_data qos
2. change user data
3. get new user data to make sure change has been accepted
4. using wireshark to observing rtps information

System information

• Fast-RTPS version: 2.3.0
• OS: ubuntu 18.04
• Network interfaces: lo
  
• ROS2:
  

Additional context

Additional resources

• Wireshark capture
• XML profiles file

[MiguelCompany]

@yooouxin Thanks for your report. We already detected this issue internally, and have plans to fix it this week or the following. It will require extending the low-level RTPS layer API, so the fix will require a new minor version. Thus I will mark this for the corresponding milestone (2.4.0)

[EduPonz]

Hi @yooouxin ,

We have just submitted #2142, which, among other things, should solve your issue. It'd be great if you could verify on your end.

Thanks!