Why might ros1_bridge stop forwarding lidar PointCloud2 messages?
I have a large ROS network comprised of both ROS1 and ROS2 nodes. The nodes are bridged by the ros1_bridge dynamic_bridge.
Two of the ROS2 nodes publish VLP-32C lidar data as sensor_msgs/PointCloud2 onto two different lidar topics at ~10Hz. When the system starts up the ros1_bridge will correctly identify these topics and start forwarding these messages. However, after a few seconds at least one of the lidar streams will stop bridging and that lidar's data will no longer be available on the ROS1 network. It appears the ros1_bridge is still connected on both ends, but no lidar data is coming out. The ROS2 lidar data is still publishing and other messages are still being bridged.
I'm a bit at a loss for what might cause this. Does anyone have any suggestions on how to investigate.
I'm using Ubuntu 20.04 with ROS2 Foxy, ROS1 Noetic, and Cyclone DDS.
