{
  "id": "ros2/rmw-impl-unsupported-type",
  "signature": "RMW_IMPLEMENTATION=rmw_fastrtps_cpp: Type 'my_msgs/msg/MyType' is not supported by this RMW implementation",
  "signature_zh": "RMW实现不支持的消息类型：'my_msgs/msg/MyType' 不被此RMW实现支持",
  "regex": "Type '.*?' is not supported by this RMW implementation",
  "domain": "ros2",
  "category": "type_error",
  "subcategory": null,
  "root_cause": "The custom message type uses a field type (e.g., nested arrays, unbounded sequences with complex types) that the selected RMW implementation (e.g., rmw_fastrtps_cpp) cannot serialize due to DDS type system limitations.",
  "root_cause_type": "generic",
  "root_cause_zh": "自定义消息类型使用了所选RMW实现（如rmw_fastrtps_cpp）无法序列化的字段类型（如嵌套数组、带复杂类型的无界序列），这是DDS类型系统的限制。",
  "versions": [
    {
      "version": "ROS2 Humble",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Iron",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Rolling",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "Switching to another RMW implementation (e.g., rmw_cyclonedds_cpp) blindly without testing message compatibility",
      "why_fails": "The error is specific to the message type, not the RMW. Other RMWs may have similar limitations for complex types.",
      "fail_rate": 0.7,
      "condition": "",
      "sources": []
    },
    {
      "action": "Removing all fields from the message type to make it simpler, losing functionality",
      "why_fails": "Overly aggressive simplification may break application logic; the type may still be unsupported if any problematic field remains.",
      "fail_rate": 0.5,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Simplify the message type: replace nested sequences with flattened fields or use bounded sequences. For example, change 'float64[] data' to 'float64[100] data' if max size is known.",
      "success_rate": 0.85,
      "how": "Simplify the message type: replace nested sequences with flattened fields or use bounded sequences. For example, change 'float64[] data' to 'float64[100] data' if max size is known.",
      "condition": "",
      "sources": []
    },
    {
      "action": "Switch to a different RMW implementation that supports the type better, e.g., set RMW_IMPLEMENTATION=rmw_connextdds (if licensed) and test with the same message.",
      "success_rate": 0.75,
      "how": "Switch to a different RMW implementation that supports the type better, e.g., set RMW_IMPLEMENTATION=rmw_connextdds (if licensed) and test with the same message.",
      "condition": "",
      "sources": []
    },
    {
      "action": "Split the complex message into multiple simpler messages and publish them on separate topics, then synchronize in the subscriber node.",
      "success_rate": 0.8,
      "how": "Split the complex message into multiple simpler messages and publish them on separate topics, then synchronize in the subscriber node.",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "简化消息类型：将嵌套序列替换为扁平字段或使用有界序列。例如，如果最大大小已知，将'float64[] data'改为'float64[100] data'。",
    "切换到其他RMW实现以更好地支持该类型，例如设置RMW_IMPLEMENTATION=rmw_connextdds（如果已授权）并使用相同消息测试。",
    "将复杂消息拆分为多个简单消息，发布到不同话题，然后在订阅者节点中同步。"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/humble/Concepts/About-RMW-Implementations.html",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.85,
  "fix_success_rate": 0.8,
  "resolvable": "true",
  "first_seen": "2023-08-15",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}