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This can happen when using Fast-RTPS and Connext with a message in a particular size range. Long term rmw_fastrtps_cpp should be updated to use this enhancement . In the short term there are a couple options

Use rmw_connext_cpp for the ROS2 rmw implementation by setting the environment variable RMW_IMPLEMENTATION, or
Configure Connext to not send type matching messages larger than 5000 bytes. rmw_connext_cpp disables TypeCode to avoid this (see this issue ).

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