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Published 20 hours ago • verified publisher icon eclipse-zenoh

[Bug] Iron and Rolling: errors on ros_discovery_info messages

Open JEnoch opened this issue 7 months ago • 3 comments

Describe the bug

Following https://github.com/ros2/rmw_dds_common/pull/68 the Gid type used in ros_discovery_info topic changed from char[24] data to char[16] data.

This leads the bridge to be incompatible with Iron and latest Rolling. The incompatibility can be seen with such logs in the bridge: [2023-11-29T14:51:27Z WARN zenoh_plugin_ros2dds::ros_discovery] Error receiving ParticipantEntitiesInfo on ros_discovery_info: invalid utf-8 sequence of 1 bytes from index 4

Or in a ROS Node: [WARN] [1701269487.404903002] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'ros_discovery_info' with type 'rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_' from USER_DATA '(null)'.

To reproduce

In Iron, run zenoh-bridge-dds -f with any ROS Node and see the logs.

System info

  • commit: 55a1385
  • ROS distro: Iron and Rolling
  • Platform: all

JEnoch avatar Nov 29 '23 16:11 JEnoch