rclpy BufferClient strange timeout on lookup_transform

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System Info:

• Operating System:
  • Docker + Ubuntu 20.04
• Installation type:
  • From binaries
• Version or commit hash:
  • Foxy
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

Calling BufferClient.lookup_transform always timeouts although if I call the buffer server via ros2 cli it works.

TestNode

Create a node like the following:

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from tf2_ros.buffer_client import BufferClient
from rclpy.duration import Duration
from std_msgs.msg import Empty

class TestNode(Node):
    def __init__(
        self,
    ):
        super().__init__("test_node")
        self.cb_group = None
        self.buffer = BufferClient(
            self,
            "/tf2_buffer_server",
            timeout_padding=1.0,
            callback_group=self.cb_group,
        )
        self.sub = self.create_subscription(
            msg_type=Empty,
            topic="/test_buffer_client",
            callback=self.buffer_cb,
            qos_profile=1,
        )

    def buffer_cb(self, msg):
        _ = self.buffer.lookup_transform(
            "map",
            "odom",
            rclpy.time.Time(seconds=0, nanoseconds=0),
            timeout=Duration(seconds=1.0),
        )
        self.get_logger().info("Success")

def main(args=None):
    rclpy.init(args=args)
    node = TestNode()
    executor = None
    rclpy.spin(node, executor)

if __name__ == "__main__":
    main()

Make sure the buffer server is already running (ros2 run tf2_ros buffer_server) and there is a valid transform between map->odom (it could be as simple as an identity transform -> ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom).

Then publish to the topic that calls BufferClient.lookup_transform.

ros2 topic pub -1 /test_buffer_client std_msgs/msg/Empty

The traceback is:

Traceback (most recent call last):
  File "/workspace/rover/ros2/install/navigation/lib/navigation/navigation_test", line 33, in <module>
    sys.exit(load_entry_point('navigation', 'console_scripts', 'navigation_test')())
  File "/workspace/rover/ros2/build/navigation/navigation/node_test.py", line 53, in main
    rclpy.spin(node, executor)
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/__init__.py", line 191, in spin
    executor.spin_once()
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 711, in spin_once
    raise handler.exception()
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 426, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 351, in _execute_subscription
    await await_or_execute(sub.callback, msg)
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py", line 118, in await_or_execute
    return callback(*args)
  File "/workspace/rover/ros2/build/navigation/navigation/node_test.py", line 33, in buffer_cb
    _ = self.buffer.lookup_transform(
  File "/opt/ros/foxy/lib/python3.8/site-packages/tf2_ros/buffer_client.py", line 87, in lookup_transform
    return self.__process_goal(goal)
  File "/opt/ros/foxy/lib/python3.8/site-packages/tf2_ros/buffer_client.py", line 201, in __process_goal
    raise tf2.TimeoutException("The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server")
tf2.TimeoutException: The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server

Expected behavior

It shouldn't crash since it works with the ros2 cli. If you use the following it works:

ros2 action send_goal /tf2_buffer_server tf2_msgs/action/LookupTransform '{target_frame: map, source_frame ...