Problem with ROS2 Header in some topics

[rschilli-dev]

Problem description

I am working with ROS2 records (db3 and MCAP) which contain several movement topics (Imu/Twist/Odometry etc.).
As seen in the picture below, the header for the geometry_msgs/TwistStamped msg is shown correctly (header->stamp->sec/nanosec) but when I take the header-msg of the nav_msgs/Odometry or sensor_msgs/Imu it has a duplicate "header" entry and no nanosec/sec fields.

When I view the data with e.g. Lichtblick(Foxglove) or RQT the headers of all messages are shown correctly.

It doesnt matter if I test this with recorded data (db3/mcap) or with manually created datasets (e.g. with rosbag2_py/mcap_ros2 writer scripts).

Further Informations

• Ubuntu 22.04 with ROS2 Humble
• PJ v3.13.2

[facontidavide]

So, that was supposed to be a feature, not a bug, since it is done intentionally.

But since I can hardly do it for ALL the topics, I understand how it could be confusing. Of course the easier solution is to remove that altogether.

Not sure how to proceed further