Gzserver crashes on ROS 2 Foxy w Cyclone DDS about rmw_cyclonedds

[eboasson]

@QiangWuCN I suspect it is the same as eclipse-cyclonedds/cyclonedds#479, so it would be worthwhile to try changing that if it is possible for you to do a custom build of cyclonedds.

[QiangWuCN]

@eboasson Thanks a lot. The problem is fixed by building a custom build of cyclonedds.

As for a 128 cores machine, the max number of threads is changed from "64" to "256" (Tested "128" but still failed) in the source file:
cyclonedds/src/core/ddsc/src/dds_init.c
Line 113 in b84eee5

 thread_states_init (64);

Just for the record, the following branches of cyclonedds and rmw_cyclonedds are used:

git clone https://github.com/eclipse-cyclonedds/cyclonedds eclipse-cyclonedds/cyclonedds -b release/0.7.x
git clone https://github.com/ros2/rmw_cyclonedds ros2/rmw_cyclonedds -b foxy