[Backport to foxy & galactic] optimization for data_avaiable

[JanStaschulat]

Maybe this can be backported to foxy & galactic @Acuadros95 @JanStaschulat

Originally posted by @pablogs9 in #170 (comment)

[JanStaschulat]

Looking into this issue but cannot reproduce the colcon testerror for Foxy.

My local foxy installation does not execute colcon test: (building and executing the client service example example_client_node works fine):

jst3si@RNGX5596:~/ros_ws/src/rclc$ RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run rclc_examples example_client_node 
Send service request 24 + 42.
jst3si@RNGX5596:~/ros_ws$ RMW_IMPLEMENTATION=rmw_fastrtps_cpp ./build/rclc/rclc_test 
Running main() from /opt/ros/foxy/src/gtest_vendor/src/gtest_main.cc
[==========] Running 48 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 23 tests from Test
[ RUN      ] Test.rclc_support_init
[       OK ] Test.rclc_support_init (0 ms)
[ RUN      ] Test.rclc_support_init_with_options
[       OK ] Test.rclc_support_init_with_options (0 ms)
[ RUN      ] Test.rclc_support_fini
[WARN] [1636996918.280719324] [rclc]: [rclc_support_fini] Warning in rcl_init_options_fini: expected initialized init_options, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-shared-cpp-1.2.6/src/rmw_init.cpp:95, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/init_options.c:138

[       OK ] Test.rclc_support_fini (0 ms)
[ RUN      ] Test.rclc_node_init_default
[       OK ] Test.rclc_node_init_default (7 ms)
[ RUN      ] Test.rclc_node_init_with_options
[       OK ] Test.rclc_node_init_with_options (4 ms)
[ RUN      ] Test.rclc_publisher_init_default
[       OK ] Test.rclc_publisher_init_default (3 ms)
[ RUN      ] Test.rclc_publisher_init_best_effort
[       OK ] Test.rclc_publisher_init_best_effort (3 ms)
[ RUN      ] Test.rclc_publisher_init_qos
[       OK ] Test.rclc_publisher_init_qos (2 ms)
[ RUN      ] Test.rclc_subscription_init_default
[       OK ] Test.rclc_subscription_init_default (3 ms)
[ RUN      ] Test.rclc_subscription_init_best_effort
[       OK ] Test.rclc_subscription_init_best_effort (4 ms)
[ RUN      ] Test.rclc_subscription_init_qos
[       OK ] Test.rclc_subscription_init_qos (3 ms)
[ RUN      ] Test.rclc_client_init_default

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'Failed to find library 'test_msgs__rosidl_typesupport_fastrtps_c'
, at /tmp/binarydeb/ros-foxy-rosidl-typesupport-c-1.0.2/src/type_support_dispatch.hpp:73'

with this new error message:

  'Handle's typesupport identifier (rosidl_typesupport_c) is not supported by this library
, at /tmp/binarydeb/ros-foxy-rosidl-typesupport-c-1.0.2/src/type_support_dispatch.hpp:116'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'Handle's typesupport identifier (rosidl_typesupport_c) is not supported by this library
, at /tmp/binarydeb/ros-foxy-rosidl-typesupport-c-1.0.2/src/type_support_dispatch.hpp:116'

with this new error message:

  'type support not from this implementation, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.2.6/src/rmw_client.cpp:87'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1636996918.311848714] [rclc]: [rclc_client_init_best_effort] Error in rcl_client_init: type support not from this implementation, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.2.6/src/rmw_client.cpp:87, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/client.c:175

/home/jst3si/ros_ws/src/rclc/rclc/test/rclc/test_client.cpp:41: Failure
Expected equality of these values:
  0
  rc
    Which is: 1
Speicherzugriffsfehler (Speicherabzug geschrieben)

do to a strange error regarding rcl_client_init :
[ERROR] [1636996918.311848714] [rclc]: [rclc_client_init_best_effort] Error in rcl_client_init: type support not from this implementation, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.2.6/src/rmw_client.cpp:87, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/client.c:175

[JanStaschulat]

PR backport for Foxy: #213