disable intraprocess for transient local topics

[Aposhian]

Related Issues & PRs

• resolves Running the ROS2 driver with intra-process communication when using composition #197

Summary of Changes

Explicitly disable intraprocess communication for metadata publisher and subscription, otherwise it fails if you try to set use_intraprocess_comms: True on the whole node.

Validation

In progress.

[Samahu]

@Aposhian is this ready? Do you plan on providing validation steps?

[Aposhian]

I have tested this and it works. I will provide a test to replicate shortly

[Aposhian]

Ok here are the validation steps to reproduce the bug and how this PR fixes it:

To reproduce:

• Edit sensor.composite.launch.py to have intraprocess comms enabled. For example on this branch: https://github.com/fireflyautomatix/ouster-ros/blob/88614044af6f0bd215b1baabee8841578d05ec2d/ouster-ros/launch/sensor.composite.launch.py#L45
• ros2 launch ouster_ros sensor.composite.launch.py

You get this error:

[component_container_mt-2] [ERROR] [1692982283.515302684] [ouster.os_container]: Component constructor threw an exception: intraprocess communication allowed only with volatile durability

But after applying this fix by merging this PR in like on this branch https://github.com/fireflyautomatix/ouster-ros/tree/example/intraprocess-comms-fixed, the error doesn't show up anymore.

[Samahu]

@Aposhian Which rosdistro do you test against? I couldn't generate the problem under rolling.

[Aposhian]

Humble. I believe there is addressed in rolling.

[Samahu]

🤔 then I need to create a branch for humble similar to having a foxy branch and merge the pull request into it. Let me get that ready and will get back to you.