Reproduction of FastDDS failing to activate Nav2

compose.yml

services:
  nav2:
    image: fastddsrepro
    build:
      context: ./
      target: fastrtps
      args:
        - BASE_IMAGE=ros:galactic
    command: ros2 launch nav2_bringup navigation_launch.py
    network_mode: host
    ipc: host
    environment:
      - RMW_IMPLEMENTATION
      - ROS_DOMAIN_ID
  bagger:
    image: fastddsrepro
    build:
      context: ./
      target: fastrtps
      args:
        - BASE_IMAGE=ros:galactic
    command: ros2 bag record -a
    network_mode: host
    ipc: host
    environment:
      - RMW_IMPLEMENTATION
      - ROS_DOMAIN_ID

Dockerfile

# syntax=docker/dockerfile:1.4

ARG BASE_IMAGE
FROM $BASE_IMAGE as base

RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
    --mount=type=cache,target=/var/lib/apt,sharing=private \
    apt-get update && apt-get install -y \
    ros-$ROS_DISTRO-demo-nodes-cpp \
    ros-$ROS_DISTRO-nav2-bringup \
    ros-$ROS_DISTRO-rmw-fastrtps-cpp \
    ros-$ROS_DISTRO-rmw-cyclonedds-cpp

FROM base as fastrtps

WORKDIR /opt/fastrtps_ws
COPY --link ./fastrtps.repos ./
WORKDIR /opt/fastrtps_ws/src
RUN vcs import --input ../fastrtps.repos --shallow

WORKDIR /opt/fastrtps_ws
RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
    --mount=type=cache,target=/var/lib/apt,sharing=private \
    . /opt/ros/$ROS_DISTRO/setup.sh && \
    rosdep update --rosdistro $ROS_DISTRO && \
    rosdep install -y --from-paths src --rosdistro=$ROS_DISTRO

RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build

COPY --link ./fastrtps_entrypoint.sh /ros_entrypoint.sh
RUN chmod +x /ros_entrypoint.sh

fastrtps.repos

# The following repos are from https://github.com/eProsima/Fast-DDS/blob/master/fastrtps.repos
repositories:
  foonathan_memory_vendor:
      type: git
      url: https://github.com/eProsima/foonathan_memory_vendor.git
      version: master
  fastcdr:
      type: git
      url: https://github.com/eProsima/Fast-CDR.git
      version: master
  fastrtps:
      type: git
      url: https://github.com/eProsima/Fast-DDS.git
      version: 526a51954d65d976b21234dc1d517044b4c19ff7 # 2.3.x
  fastddsgen:
      type: git
      url: https://github.com/eProsima/Fast-DDS-Gen.git
      version: master
  fastddsgen/thirdparty/idl-parser:
      type: git
      url: https://github.com/eProsima/IDL-Parser.git
      version: master

fastrtps_entrypoint.sh

#!/bin/bash
set -e

# setup ros2 environment
source "/opt/fastrtps_ws/install/setup.bash"
exec "$@"

test.sh

#!/usr/bin/env bash
docker buildx bake -f compose.yml --load &> /dev/null

source /opt/ros/galactic/setup.bash

RMWS='rmw_cyclonedds_cpp rmw_fastrtps_cpp'
DAEMON_COMMANDS='start stop'

run_tests() {
    export RMW_IMPLEMENTATION=$1
    DAEMON_COMMAND=$2
    if [ "$DAEMON_COMMAND" = 'start' ]; then
        DAEMON_SYMBOL="✅"
    else
        DAEMON_SYMBOL="❌"
    fi
    
    echo "rmw: $RMW_IMPLEMENTATION | daemon: $DAEMON_SYMBOL"

    for i in {1..3}; do
        echo -n "  Try #$i: "
        docker-compose down &> /dev/null
        ros2 daemon $DAEMON_COMMAND &> /dev/null
        docker-compose up -d &> /dev/null
        sleep 5
        docker-compose logs | grep "\[controller_server\]: Activating" &> /dev/null && echo "✅" || echo "❌"
        docker-compose down &> /dev/null
        ros2 daemon stop &> /dev/null
    done
}

for rmw in $RMWS; do
    for daemon_cmd in $DAEMON_COMMANDS; do
        run_tests $rmw $daemon_cmd
    done
done