Mismatched protocol version in packet (b'\xff'): lost sync or rosserial_python is from different ros release than the rosserial client

[fjp]

When using two publisher (pub_measured_joint_states_ and pub_encoders_ in the void diffbot::BaseController<TMotorController, TMotorDriver>::read() method, the following error can occur:

[ERROR] [1642866871.814281]: Mismatched protocol version in packet (b'\xff'): lost sync or rosserial_python is from different ros release than the rosserial client
[INFO] [1642867178.756300]: Protocol version of client is Rev 0 (rosserial 0.4 and earlier), expected Rev 1 (rosserial 0.5+)

and

[INFO] [1642867191.950343]: wrong checksum for topic id and msg

Suggestions in this answer might help

• lowering baud rate
• Don't use Serial.print and rosserial

Possible other solutions:

• Edit ros::NodeHandle number of publisher, subscriber and buffer input/output sizes explained in ros wiki
• Add delay between publish commands (not preferred)
• publish at different rates (not optimal, only fallback solution)