Creating a ROS2 message using arrays and bounded types gives not enough memory in buffer error

[RahulRavichandran1]

When a ROS2 message with bounded types is used, for example:
int32[<=5] up_to_five_integers_array

Importing a Rosbag with this message, gives an error:

The plugin [DataLoad ROS2 bags] thrown the following exception: 

 Not enough memory in the buffer stream

Once i change the message to and create a rosbag :
int32[] up_to_five_integers_array

the error message disappears.

Could this is fixed, to allow bounded types array to be imported in plotjuggler?

[kdhansen]

I'd like to second this. It is also mentioned in issue #836

Sponsoring

I'd maybe able to sponsor this fix.

How to Reproduce

I made a repository https://github.com/kdhansen/bounded-juggle with a publisher and two message definitions. One with a bounded sequence and one with an unbounded.

1. Clone the repo.
2. Build with colcon colcon build
3. source install/setup.bash
4. Run the publisher ros2 run bounded_juggle publish_bounded
5. Open PlotJuggler and subscribe to both topics /numbers and bounded_numbers
6. PlotJuggler crashes with output:

terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
what(): Not enough memory in the buffer stream
Stack trace (most recent call last) in thread 55026:
#24 Object "", at 0xffffffffffffffff, in
BFD: DWARF error: section .debug_info is larger than its filesize! (0x93f189 vs 0x531098)
#23 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09ccc92352, in clone
#22 Source "/build/glibc-LcI20x/glibc-2.31/nptl/pthread_create.c", line 477, in start_thread [0x7f09cd0b9608]
#21 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f09ccfa5df3, in std::error_code::default_error_condition() const
#20 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b007e97a, in QPointer::~QPointer()
#19 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce60d136, in rclcpp::Executor::spin_once(std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
#18 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce615a00, in rclcpp::Executor::spin_once_impl(std::chrono::duration<long, std::ratio<1l, 1000000000l> >)
#17 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce610fa4, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
#16 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce6106e7, in rclcpp::Executor::execute_subscription(std::shared_ptrrclcpp::SubscriptionBase)
#15 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce60ffa3, in rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
#14 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce60f4b7, in rclcpp::Executor::spin_node_some(std::shared_ptrrclcpp::Node)
#13 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f09ce621f6a, in rclcpp::GenericSubscription::handle_message(std::shared_ptr&, rclcpp::MessageInfo const&)
#12 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b00804fa, in DataStreamROS2::messageCallback(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::shared_ptrrclcpp::SerializedMessage)
#11 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b008040b, in DataStreamROS2::messageCallback(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::shared_ptrrclcpp::SerializedMessage)
#10 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b0097e0e, in PJ::CompositeParser::parseMessage(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, PJ::MessageRef, double&)
#9 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b009adc8, in IntrospectionParser::parseMessage(PJ::MessageRef, double&)
#8 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b00c03da, in Ros2Introspection::Parser::deserializeIntoFlatMessage(rcutils_uint8_array_t const*, Ros2Introspection::FlatMessage*) const
#7 Object "/opt/ros/galactic/lib/plotjuggler_ros/libDataStreamROS2.so", at 0x7f09b00bed4d, in Ros2Introspection::Parser::topicInfo() const
#6 Object "/opt/ros/galactic/lib/libfastcdr.so.1", at 0x7f09b01ba453, in
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f09ccf79698, in __cxa_throw
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f09ccf793e6, in std::terminate()
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f09ccf7937b, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
#2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f09ccf6d8d0, in __cxa_throw_bad_array_new_length
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09ccb95858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09ccbb600b, in gsignal
Aborted (Signal sent by tkill() 54345 1000)

8. Subscribe to just /numbers and everything runs fine.