Topic /dock publishing invalid type robot_create_msgs::msg::Dock instead of DockStatus

[carTloyal123]

Bug report

Required Info:

• Operating System:
  • OS: Ubuntu 20.04
• Installation type:
  • Binaries and from Source
• Version or commit hash:
  • release
• DDS implementation:
  • Fast, and Cyclone using ROS2 Humble/Galactic
• Client library (if applicable):

Steps to reproduce issue

On ROS2 Humble while connected to Create3 (eth/wifi)

ros2 topic echo /dock

Expected behavior

/dock topic echos as normal showing the information about the docking status

Actual behavior

undefined message type error

Additional information

I see that the dock message has changed from galactic to humble so I just wanted to put in an issue so that this change can be documented in the Create3 ROS2 setup documentation. In the installation instructions for ROS2 humble on a client, it could be noted that some messages will be incompatible. Thanks!

[shamlian]

To verify -- is your Create 3 running Galactic (G.x.x) or Humble (H.x.x) firmware? How have you installed ROS 2 Humble on your Ubuntu 20.04 machine (or -- what version of ROS 2 are you running on your computer)? Note that nodes from different ROS 2 versions are not expected to reliably communicate. Note also that the differences in API are called out here and here. Are you suggesting we should add warnings about matching ROS 2 versions between the robot and other nodes here as well?

[carTloyal123]

Hey there, thanks for the quick reply. To be clear, my machine is running Humble on Ubuntu 22.04 while the create3 is running Galactic.

Yes I think it may be useful to add a note on the Humble and Galactic setup pages about making sure your ROS2 versions match otherwise there may be instability/message mismatches. That would be great but maybe people read all of the docs completely (which I clearly did not do, I apologize) before they get setup. I will say closed for now but feel free to add that note in the ROS2 setup! Thanks and enjoying the platform!

[shamlian]

No worries at all, thanks for writing; you're not the first to have this confusion and I suspect you're right! Will add it to my list of things to do.