DDS Router does not work with ROS 2 Kilted.

[Tuntenfisch]

Hey, I recently switched from ROS 2 Humble to ROS 2 Kilted and noticed that my topics are no longer forwarded between ROS domains. Below example results in an invalid topic type hash which I think is at least part of the reason why nothing is received:

sfg-agent@sfg-experimental-area:/workspace$ ros2 topic info -v /global/chatter 
Type: std_msgs/msg/String

Publisher count: 1

Node name: _CREATED_BY_BARE_DDS_APP_
Node namespace: _CREATED_BY_BARE_DDS_APP_
Topic type: std_msgs/msg/String
Topic type hash: INVALID
Endpoint type: PUBLISHER
GID: 01.0f.06.27.fe.00.ea.d1.00.00.00.00.00.00.4d.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: 0 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: listener
Node namespace: /
Topic type: std_msgs/msg/String
Topic type hash: RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18
Endpoint type: SUBSCRIPTION
GID: 01.0f.06.27.bf.15.d5.19.00.00.00.00.00.00.13.04
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (10)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Example

• Router config:

  version: v5.0
  
  allowlist:
  name: rt/tf
    - name: rt/tf_static
    - name: rt/global/*
    - name: rq/global/*
    - name: rr/global/*
  
  participants:
    - name: local
      kind: simple
      domain: 35
  
    - name: global
      kind: simple
      domain: 23
  
  specs:
    discovery-trigger: reader
    remove-unused-entities: true
  

• First ROS stack:

  sfg-agent@sfg-go2-01:/workspace$ export ROS_DOMAIN_ID=23
  sfg-agent@sfg-go2-01:/workspace$ ros2 run demo_nodes_cpp talker --ros-args -r /chatter:=/global/chatter
  [INFO] [1780939032.036083875] [talker]: Publishing: 'Hello World: 1'
  [INFO] [1780939033.036028389] [talker]: Publishing: 'Hello World: 2'
  [INFO] [1780939034.036030537] [talker]: Publishing: 'Hello World: 3'
  

• Second ROS stack:

  sfg-agent@sfg-experimental-area:/workspace$ export ROS_DOMAIN_ID=35
  sfg-agent@sfg-experimental-area:/workspace$ ros2 run demo_nodes_cpp listener --ros-args -r /chatter:=/global/chatter
  

The second stack never receives anything and running ´ros2 topic info -v /global/chatter` yields the above output with the invalid hash. So while the topic is forward, it doesn't appear to correctly forward all information required by ROS 2 Kilted to accept messages from it. I'm using DDS Router v3.5.1. If both are using the same ROS domain, communication works fine. Any help would be greatly appreciated.