Fix

Author: pablogs9

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -88,11 +88,13 @@ create_topic(
 
   // Send the request and wait for response
   uint8_t status;
-  custom_topic->sync_with_agent =
-    uxr_run_session_until_all_status(
-    &custom_node->context->session, 1000, &topic_req,
-    &status, 1);
-  if (!custom_topic->sync_with_agent) {
+
+  if (UXR_BEST_EFFORT_STREAM == custom_node->context->entity_creation_output->type)
+  {
+    uxr_flash_output_streams(&custom_node->context->session);
+  }
+  else if(!(custom_topic->sync_with_agent = uxr_run_session_until_all_status(&custom_node->context->session, 1000, &topic_req, &status, 1)))
+  {
     RMW_SET_ERROR_MSG("Issues creating micro XRCE-DDS entities");
     rmw_uxrce_fini_topic_memory(custom_topic);
     custom_topic = NULL;
@@ -114,7 +116,12 @@ rmw_ret_t destroy_topic(rmw_uxrce_topic_t * topic)
 
   uint16_t requests[] = {delete_topic};
   uint8_t status[1];
-  if (!uxr_run_session_until_all_status(
+
+  if (UXR_BEST_EFFORT_STREAM == topic->owner_node->context->entity_creation_output->type)
+  {
+    uxr_flash_output_streams(&topic->owner_node->context->session);
+  }
+  else if (!uxr_run_session_until_all_status(
       &topic->owner_node->context->session, 1000, requests,
       status, 1))
   {