Dynamic Data Writing Seems to Need a Setup Time

I've got an application where it monitors for a particular type name. When this type name is found it extracts the type code that corresponds to it, creates dynamic data from the type code, populates the dynamic data, and then publishes (writes) the dynamic data. What I've noticed is that I need to put a "NDDSUtility::sleep" of about 10ms for set up between (create publisher/type registration/create topic/create writer) and the actual writing of the data. If I don't put this delay the write status will report OK, but subscriber's won't see it sometimes. Is a setup time necessary of is there something I'm missing here? This applies to Linux and Windows (but more pronounced).

Thanks for the help.

The below snippet is taken from the "ShapeType using DynamicData" example, but adapted to show what the application does:

....................

publisher = participant->create_publisher(DDS_PUBLISHER_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (publisher == NULL) {
printf("create_publisher error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Create DynamicData using TypeCode from Shapes.cxx
* If you are NOT using a type generated with rtiddsgen, you
* need to create this TypeCode from scratch.
*/
type_code = ShapeType_get_typecode();
if (type_code == NULL) {
printf("get_typecode error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Create the Dynamic data type support object */
type_support = new DDSDynamicDataTypeSupport(type_code, props);
if (type_support == NULL) {
printf("constructor DynamicDataTypeSupport error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Register type before creating topic */
type_name = EXAMPLE_TYPE_NAME;
retcode = type_support->register_type(participant, EXAMPLE_TYPE_NAME);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Make sure both publisher and subscriber share the same topic
* name.
* In the Shapes example: we are publishing a Square, which is the
* topic name. If you want to publish other shapes (Triangle or
* Circle), you just need to update the topic name. */
topic = participant->create_topic("Square", type_name,
DDS_TOPIC_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* First, we create a generic DataWriter for our topic */
writer = publisher->create_datawriter(topic, DDS_DATAWRITER_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (writer == NULL) {
printf("create_datawriter error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Then, to use DynamicData, we need to assign the generic
* DataWriter to a DynamicDataWriter, using
* DDS_DynamicDataWriter_narrow.
* The following narrow function should never fail, as it performs
* only a safe cast.
*/
DynamicData_writer = DDSDynamicDataWriter::narrow(writer);
if (DynamicData_writer == NULL) {
printf("DynamicData_writer narrow error\n");
publisher_shutdown(participant, type_support);
return -1;
}

-------------------------NDDSUtility::sleep delay goes here----------------------------------------------

/* Create an instance of the sparse data we are about to send */
data = type_support->create_data();

if (data == NULL) {
printf("create_data error\n");
publisher_shutdown(participant, type_support);
return -1;
}

/* Initialize the DynamicData object */
data->set_string("color", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, "BLUE");
data->set_long("x", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 100);
data->set_long("y", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 100);
data->set_long("shapesize", DDS_DYNAMIC_DATA_MEMBER_ID_UNSPECIFIED, 30);

/* Write data */
retcode = DynamicData_writer->write(*data, instance_handle);
if (retcode != DDS_RETCODE_OK) {
printf("write error %d\n", retcode);
publisher_shutdown(participant, type_support);
}

/* Delete data sample */
retcode = type_support->delete_data(data);
if (retcode != DDS_RETCODE_OK) {
printf("ShapeTypeTypeSupport::delete_data error %d\n", retcode);
}