How to debug: [ros_gz_bridge]: Failed to create a bridge for topic

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Hi There,

ros_gz_bridge reports failure while the parameters seem to be correct:

$ ros2 run ros_gz_bridge parameter_bridge /cmd_vel@geometry_msgs/Twist@gz.msgs.Twist
[INFO] [1671392523.581891853] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/cmd_vel (gz.msgs.Twist) -> /cmd_vel (geometry_msgs/Twist)] (Lazy 0)
[WARN] [1671392523.582115037] [ros_gz_bridge]: Failed to create a bridge for topic [/cmd_vel] with ROS2 type [/cmd_vel] to topic [geometry_msgs/Twist] with Gazebo Transport type [gz.msgs.Twist]

I'm using Gazebo Garden on the osrf/ros:humble-desktop Docker image. I have a robot in the simulation that i can control with the Teleop widget on the /cmd_vel topic. I installed the ros-humble-ros-gz-bridge with apt.

What else should i check to find the cause of the issue?

Update
Using ignition.msgs.Twist instead of gz.msgs.Twist removes the error, (even though i'm using Gazebo Garden). But the messages are still not transferred.

It seems like Gazebo is using the gz. version of the message. This could explain why ROS2 messages have no effect on the simulation:

gz topic -i -t  /cmd_vel 
Publishers [Address, Message Type]:
  tcp://172.17.0.1:39535, ignition.msgs.Twist
  tcp://172.17.0.1:42165, gz.msgs.Twist

Maybe i don't have some ROS message definitions installed? I installed gz-garden and ros-humble-gazebo-msgs from the official PPA.

For more info, ros2 topic info with the bridge, teleop_keyboard, and a ros2 echo running:

ros2 topic info -v /cmd_vel
Type: geometry_msgs/msg/Twist

Publisher count: 2

Node name: ros_gz_bridge
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.50.71.51.ab.45.39.01.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Node name: teleop_twist_keyboard
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: PUBLISHER
GID: 01.0f.50.71.da.d3.49.82.01.00.00.00.00.00.11.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 2

Node name: ros_gz_bridge
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: SUBSCRIPTION
GID: 01.0f.50.71.51.ab.45.39.01.00.00.00.00.00.13.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Node name: _ros2cli_205184
Node namespace: /
Topic type: geometry_msgs/msg/Twist
Endpoint type: SUBSCRIPTION
GID: 01.0f.50.71.80.21.50.1f.01.00.00.00.00.00.05.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite