RuntimeError - when using custom messages

[kimjjs100]

Hi, there? I have some problem when using my custom msgs.

Describe the bug

• After inserting "custom msgs" in src/ros2cs, I executed ./build.sh and imported the Asset into Unity.

  • There are some stderr output, but it was confirmed that the build was completed.
  • 

• Also, it was confirmed that there is no problem in executing ROS2TalkerExample.cs and ROS2ListenerExample.cs. (In 'std_msgs', it was confirmed that the topic was published normally.)

• However, when I changed std_msgs to custom_msgs in the example template, the following error occurred.

  • (Original Code)

  • 

  • (The error)

  • 

RuntimeError: type support not from this implementation, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.3.1/src/publisher.cpp:86, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/publisher.c:180
ROS2.Utils.CheckReturnEnum (System.Int32 ret) (at <e0a206ab668a41a18192d5dc278b96ab>:0)
ROS2.Publisher`1[T]..ctor (System.String pubTopic, ROS2.Node node, ROS2.QualityOfServiceProfile qos) (at <e0a206ab668a41a18192d5dc278b96ab>:0)
ROS2.Node.CreatePublisher[T] (System.String topic, ROS2.QualityOfServiceProfile qos) (at <e0a206ab668a41a18192d5dc278b96ab>:0)
ROS2.ROS2Node.CreatePublisher[T] (System.String topicName, ROS2.QualityOfServiceProfile qos) (at Assets/Ros2ForUnity/Scripts/ROS2Node.cs:75)
ROS2.ToKSOE.Update () (at Assets/ToKSOE.cs:44)

• I think the Null Reference problem seems to be something that won't happen if only runtime errors are resolved.

Desktop (please complete the following information):

• OS : Ubuntu20.04
• ros2 distro : foxy
• ros2-for-unity version : 1.2.0 Release
• ros2cs version : 1.2.0 Release
• ros2 dds middleware : fast-dds
• ros2 environment setup : single pc, local network
• Unity editor version : 2020.3.26f1

I need your help a lot !! How should I handle this issue?

[pijaro]

Is it possible that you could share the contents of your custom messages (package)? I could try to reproduce it locally.

Also, did you make sure you cleared your Unity plugins folder and {build/install} before copying and building new libraries? The error looks like some libraries might be from different versions :thinking:

[pijaro]

Did you manage to find the solution to your problem?

[kimjjs100]

I'm sorry.. I'm not working on solving this problem anymore. When it's resolved, I'll raise it as an issue again.