[jazzy] Reduce flakiness in rosbag2 recorder end-to-end tests (backport #2370)

[mergify]

Description

Reduced flakiness in rosbag2 recorder tests by strengthening PublicationManager::wait_for_matched().

Please see RCA in the relevant issue #2369 (comment)

The helper PublicationManager::wait_for_matched() now waits on ROS graph events rather than relying solely on fixed sleep polling. It still preserves the existing API and boolean return behavior, but uses a hybrid loop:
• check the publisher’s current subscription count
• wait for a graph change
• re-check periodically with a short bounded wait slice
This improves readiness detection for recorder subscriptions that appear asynchronously during topic discovery, while still handling cases where graph notifications are delayed or not sufficient on their own.
No test call sites were changed. Existing recorder tests continue to use pub_manager.wait_for_matched(...), but they now benefit from the stronger synchronization automatically.

• Fixes The "test_rosbag2_record_end_to_end record_end_to_end_test_with_zstd_file_compression" is tend to be flaky #2369

Is this user-facing behavior change?

No.

Did you use Generative AI?

Yes. Codex gpt-5.4

Additional Information

Can be backported.

---

This is an automatic backport of pull request #2370 done by [Mergify](https://mergify.com).

[MichaelOrlov]

LGTM with green CI.

[MichaelOrlov]

Pulls: #2415
Gist: https://gist.githubusercontent.com/MichaelOrlov/813fadd393a87f4c9079851bb6963b42/raw/2606e75177e3d07f3c2cc156001ac9ab67f5e432/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_test_common rosbag2_transport
TEST args: --packages-above rosbag2_test_common rosbag2_transport
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19064

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

RHEL build was autorestarted and passed green.

• Linux-rhel

[MichaelOrlov]

@mjcarroll @cottsay The Windows build on Jazzy permanently fails with multiple jobs with the error message that rmw_connextdds can't serialize the message.
It seems the Windows CI build is broken on a baseline for a while (at least I see this failure for the last 3-4 days).
I am curious if this is a known issue?

[ RUN      ] RosBag2PlayTestFixture.burst_with_false_preconditions
[ERROR] [1776977464.035681700] [rmw_connextdds]: Failed to serialize rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ sample: Not enough memory in the buffer stream
[ERROR] [1776977464.035968800] [rmw_connextdds]: failed to write message to DDS
[ERROR] [1776977464.036026000] [rmw_connextdds]: failed to publish discovery sample
[ERROR] [1776977464.036058600] [rmw_connextdds]: failed to publish discovery sample
[ERROR] [1776977464.036081500] [rmw_connextdds]: failed to update graph for node
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE|PROCESS SAMPLE] PRESWriterHistoryDriver_serializeSample:FAILED TO SERIALIZE | Sample in topic ros_discovery_info with type 'rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_' and encapsulation ID 1
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE] PRESWriterHistoryDriver_initializeSample:FAILED TO SERIALIZE | Sample with sequence number (0, 1) in encapsulation 1.
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE] WriterHistoryMemoryPlugin_addEntryToSession:FAILED TO INITIALIZE | Session sample
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE] WriterHistoryMemoryPlugin_addEntryToSessions:FAILED TO ADD | Entry to session with ID 0
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE] WriterHistoryMemoryPlugin_getEntry:FAILED TO ADD | Virtual sample to sessions
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE|ADD TO WRITER QUEUE] WriterHistoryMemoryPlugin_addSample:FAILED TO GET | Entry
ERROR [0x0101CB47,0xFDF91636,0xE3F71A8B:0x80000003{Entity=DW,Topic=ros_discovery_info,Type=rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_,Domain=147}|WRITE] PRESPsWriter_writeInternal:!collator addWrite
unknown file: error: C++ exception with description "failed to initialize rcl node: failed to write message to DDS, at C:\ci\ws\src\ros2\rmw_connextdds\rmw_connextdds_common\src\ndds\dds_api_ndds.cpp:778, at C:\ci\ws\src\ros2\rcl\rcl\src\rcl\node.c:253" thrown in the test fixture's constructor.

[MichaelOrlov]

@mjcarroll @cottsay @claraberendsen friendly ping here for comments ^^^.

[MichaelOrlov]

Attempt to run Windows CI build one more time

• Windows