Hi all, I has encountered a problem that necessary information is not displayed well in Rviz due to launch order dependence with iceoryx applied. I try to apply iceoryx to a ros2 application, but the point-cloud map and vehicle model cannot be displayed well in rviz. And, we find out if launch rviz firstly ,the map and model will be show in the rviz normaly. We reproduction the problem use the ros2-urdf-tutorial ( https://github.com/bopeng-saitama/ros2-urdf-tutorial). Reproduction steps：

1. Run IceOryx client (terminal 1)

cd ros2-urdf-tutorial

iox-roudi

1. Launch demo (terminal 2)

cd ros2-urdf-tutorial

CYCLONEDDSURI=file://$PWD/cyclonedds.xml ros2 launch urdftutorial demo.launch.py

1. Launch rviz (terminal 3)

cd ros2-urdf-tutorial

CYCLONEDDSURI=file://$PWD/cyclonedds.xml ros2 launch urdftutorial rviz.launch.py

Under above execution steps, the robot model cannot be displayed normally on rviz.

Execution result：

https://drive.google.com/file/d/1FBqh5wgGEbARj3rcwMUufxGGhr4StUGS/view?usp=share_link

If step 3 and 2 in reverse order (start rviz first), the robot model can be displayed normally on rviz.

Execution result：

https://drive.google.com/file/d/1WbUNTIdcfboxU6jDhRjbAOBiTkMUrGc4/view?usp=share_link

Does anyone know the cause of the problem?

Thanks in advance, bo peng