Publish pose does not work when connected to a ROS2 stack via rosbridge

Hi folks!

I noticed that the tools for publishing poses and points do not work for ROS2.

The issue seems to be that the header fields in PoseStamped/PoinsStamped differ somewhat between the versions of ROS.

I get this error from rosbridge when I try to publish a pose:

[rosbridge_websocket-2] [ERROR] [1644769470.882365620] [rosbridge_websocket]: [Client 3] [id: publish:/goal_pose:114] publish: Message type geometry_msgs/PoseStamped does not have a field header.seq
[rosbridge_websocket-2] [ERROR] [1644769515.979927426] [rosbridge_websocket]: [Client 3] [id: publish:/clicked_point:125] publish: Message type geometry_msgs/PointStamped does not have a field header.seq

It would be nice to have an option to send ROS2 compatible messages with the tools.

[defunctzombie]

Yes the header message did change between ros1 and ros2.

Fortunately we have a field that panels can use to detect the framework and the 3d panel could use this to publish a message with the correct format for ros1 vs ros2.

@jtbandes @jhurliman I’m moving this issue into a bug since we are displaying the UI to publish to users that are connected via rosbridge. We can either resolve this by not displaying the UI when we can’t support the framework or fix this to publish the correct format message. Right now the user experience is one where you see the feature and when you go to use it, it fails.

[jtbandes]

One gotcha here is that if I open a Raw Message panel on the topic I should be able to see the message getting published. I think thats an important debugging property we should try to preserve.

I’m not sure this is a real problem – I think messages published from Studio today don’t show up in Raw Messages (or any panel) unless they make a roundtrip through the player. In that case you would be seeing the final published message in the format vended by the player.