Lifespan tests don't seem to do the correct thing with Opensplice

[clalancette]

Bug report

I'm testing the quality of service demos on Opensplice, and the lifespan demos don't seem to work as described.

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • Source
• Version or commit hash:
  • 8071da1
• DDS implementation:
  • Opensplice
• Client library (if applicable):
  • rclcpp/rclpy

Steps to reproduce issue

ros2 run quality_of_service_demo_cpp lifespan 4000 --publish-count 10 --subscribe-after 3000

Expected behavior

When the subscriber is created after 3 seconds, it receives all of the old messages that have been published (since their lifespan is 4 seconds), followed by new data that is published.

Actual behavior

The subscriber is created after 3 seconds, but only sees new data; old data is lost.

Additional information

This seems to work in Fast-RTPS, so either it isn't supported in Opensplice or there is a bug in it.