Hi @marguedas, I believe I am using beta3 release, But I have both r2b2 and r2b3 version in /opt/ros/ path. However, in my bashrc, only r2b3 is sourced. Goal: I am testing the ros_bridge to make sure we can use MoveIt and other sensor messages and robots in ROS2.0. Before: 1. At first, I just tried the ros_bridge tutorials and then moved on to have a PR2 model uploaded and stream the joint states in ros1 and launch the bridge. I created my interface in ros2 for listening to some translation and rotational states of the end_effector, which I could. I used very simple std_msgs::msg::String std::stringstream ss; ss << end_effector_state.translation() << end_effector_state.rotation(); robot_joint_details.data=ss.str(); while(n!=10){ joint_details_.publish(robot_joint_details); ros::Duration(0.2).sleep(); n++; } I did the same with a Sawyer model as well. I did not use JointState message in this case. Now: 2. Now I wanted to stream in Joint States that were coming in from my UR10. I used JointState message, yes you are right I want to have the bridge, and listen to the joint_states in ROS2.0 terminal. Ok, regarding the modified listener, its the two functions as you see above. However, here is the git repo: https://github.com/arunavanag591/test_ros2.git Its a very simple class example. I wonder if presence for the r2b2 and r2b3 is creating the issue. But it shouldn't right because my bash only source r2b3. --- [Visit Topic](https://discourse.ros.org/t/failed-to-read-request-type-from-a-header-for-rostopic/2759/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: