static_transform_publisher doesn't latch on ROS2 [closed]

edit

On Noetic, I can do the following:

$ run tf2_ros static_transform_publisher 1 1 1 0 0 0 f1 f2 &
[2] 1753768
[ INFO] [1639635211.900468919]: Spinning until killed publishing f1 to f2
$ rostopic echo /tf_static 
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1639635211
        nsecs: 900398326
      frame_id: "f1"
    child_frame_id: "f2"
    transform: 
      translation: 
        x: 1.0
        y: 1.0
        z: 1.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0

This is exactly what I expect to happen since the static publisher is latched.

However, on Galactic using CycloneDDS:

$ ros2 run tf2_ros static_transform_publisher --x 1 --y 1 --z 1 --frame-id f1 --child-frame-id f2 &
[1] 213102
1639635686.858624 [0] static_tra: selected interface "lo" is not multicast-capable: disabling multicast
[INFO] [1639635686.868694587] [static_transform_publisher_GjMa6BC7irM5FXBs]: Spinning until stopped - publishing transform
translation: ('1.000000', '1.000000', '1.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'f1' to 'f2'
$ ros2 topic echo /tf_static 
1639635697.443620 [0]       ros2: selected interface "lo" is not multicast-capable: disabling multicast

No output is produced, but ros2 topic keeps waiting. I'm using loopback as our routers don't like multicast, but since it can find the topic /tf_static shouldn't it also be able to find the message since it uses the durability policy transient local? Or am I misunderstanding something?

I also found this GitHub bug report that suggests:

ros2 topic echo --qos-durability transient_local /tf_static

However, that fails in the same way as above for me.