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小
@walyh 代码嘞
@haowu 数据传输和序列化和反序列化是分开的，你的这一情况恰好说明了消息的兼容性（虽然会出错），个人感觉，相比ROS1的明明消息接口定义一致因为md5不一样无法通信，ros2的兼容性更友好一些
这个有专门的讨论在ros2 design 上，我抽空给你找找
