[Bug] Failed to parse type hash for topic from USER_DATA '(null)' on local loopback interface

[Fellfalla]

Describe the bug

[WARN] [1716629393.254861174] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/india/move_state_goal_pose' with type 'geometry_msgs::msg::dds_::PoseStamped_' from USER_DATA '(null)'.

The example script to reproduce with according profile of move_to_goal_pose is

import rclpy
from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
from geometry_msgs.msg import PoseStamped

rclpy.init()
node = rclpy.create_node('state_control', automatically_declare_parameters_from_overrides=True)

qos_profile = QoSProfile(
    reliability=QoSReliabilityPolicy.RELIABLE,
    history=QoSHistoryPolicy.KEEP_LAST,
    depth=1
)

pub = node.create_publisher(PoseStamped, 'move_state_goal_pose', qos_profile=qos_profile)

rclpy.spin(node)

This error happens in conjunction with following cyclone_dds.xml configuration

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config
https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <Interfaces>
                <NetworkInterface name="lo" priority="default" multicast="true" />
            </Interfaces>
        </General>
    </Domain>
</CycloneDDS>

• Note! Changing the NetworkInterface from lo to wlo1 gets rid of the warning message

Console Output:

1716631298.152213 [0]    python3: config: //CycloneDDS/Discovery: settings moved to //CycloneDDS/Domain/Discovery (file:///workspaces/skid_repo/cyclone_dds.xml line 22)
[WARN] [1716631298.156905131] [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)'.
[WARN] [1716631298.156948032] [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

1. launch zenoh via zenoh-bridge-ros2dds
2. run CYCLONEDDS_URI="cyclone_dds.xml" python3 tests.py based on the provided example python code

System info

• zenoh bridge for DDS v0.10.1-rc built with rustc 1.72.0 (5680fa18f 2023-08-23)
• Linux kilo 6.5.0-35-generic #35~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue May 7 09:00:52 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
• ROS_DISTRO: iron irwini inside modified osrf/ros:iron-desktop-full container image

[Rayman]

I have the same issue. Any idea what could cause this?

[JEnoch]

This is the same issue than #290.
Closing this one as duplicate.