First of all apologies for the delayed response I was tied up with other things and could not have a look at the UR. As the joint states are streaming from the robot I did not have to rostopic pub on the ros1 side, I just start the UR ros master by the [ur10 bring up](https://github.com/ros-industrial/universal_robot) launch file and echo the joint states on ros 1 side to check the readings. On the ros2 side, I start the bridge and do `ros2 topic echo`. I am just using this simple startup script in ur10 ros wiki page. Nothing else on the UR side. I have already provided the link to my ros2 side code. --- [Visit Topic](https://discourse.ros.org/t/failed-to-read-request-type-from-a-header-for-rostopic/2759/7) 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: