Problems when creating/destructing participant in others static objects [8987]

[ivanpauno]

In ros2, we're migrating from creating one Participant per Node to one per Context (see ros2/rmw_fastrtps#312).
The default context has for example static storage.
The destructor of that object, ends up calling: https://github.com/eProsima/Fast-RTPS/blob/a181a67b94e88839755e83a52ec72af4c9145ac6/include/fastrtps/Domain.h#L145
As the Domain object is a singleton, and destruction order of static objects in different transitional units can't be ensured, it sometimes crash (because it's used an already destructed Domain).

I didn't try, but the same bug can happen with https://github.com/eProsima/Fast-RTPS/blob/master/include/fastdds/dds/domain/DomainParticipantFactory.hpp.
And AFAIK, the same problem is common in other DDS vendors.

Expected Behavior

Have a way to construct/destroy Participants in objects with static storage.

Current Behavior

It's not possible.

Steps to Reproduce

I don't have a simple repro ....
I can share detailed steps if needed.

System information

• Fast-RTPS version: 1.9.x
• OS: Ubuntu 18.04
• Network interfaces:
  
• ROS2: Eloquent

Additional context

The only solution that I have in mind, is to provide a way to the user to create a Domain (or DomainParticipantFactory). In that way, the object can be stored in another transitional unit and destruction order can be ensured. The solution to the commented ROS 2 problem is still complicated, but possible if that's available.
We're also considering to stop having a default context, but I just want to rise awareness to the issue.

[JLBuenoLopez]

I am going to move this issue to the Ideas discussion forum. According to the CONTRIBUTING guidelines feature requests and improvements are discussed in that forum.