Type Adapter cannot convert one RosMsg to another RosMsg about rclcpp HOT 2 OPEN

// rosAdapter.hpp
#ifndef ROS_ADAPTER_HPP
#define ROS_ADAPTER_HPP

#include <string>
#include <iostream>
#include "rclcpp/type_adapter.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/byte_multi_array.hpp"
#include "std_msgs/msg/header.hpp"
#include "tutorial_interfaces/msg/test_msg.hpp"
#include "tutorial_interfaces/msg/msg2.hpp"

#define ROS_TYPE
#ifdef ROS_TYPE
using MsgT = tutorial_interfaces::msg::TestMsg;
#else
using MsgT = std::string;
#endif // ROS_TYPE

template <>
struct rclcpp::TypeAdapter<MsgT, tutorial_interfaces::msg::Msg2>
{
    using is_specialized = std::true_type;
    using custom_type = MsgT;
    using ros_message_type = tutorial_interfaces::msg::Msg2;

    static void
    convert_to_ros_message(
        const custom_type &source,
        ros_message_type &destination)
    {
        std::cout << "convert_to_ros_message!!!" << std::endl;
#ifdef ROS_TYPE
        destination.u32 = source.id;
        destination.u64 = source.time;
#else
        destination.data.resize(source.size());
        memcpy(destination.data.data(), source.data(), source.size());
#endif
    }

    static void
    convert_to_custom(
        const ros_message_type &source,
        custom_type &destination)
    {
        std::cout << "convert_to_custom!!!" << std::endl;
#ifdef ROS_TYPE
        destination.id = source.u32;
        destination.time = source.u64;
        std::cout << "destination.id = " << destination.id << std::endl;
        std::cout << "destination.time = " << destination.time << std::endl;
#else
        memcpy(destination.data(), source.data.data(), source.data.size());
#endif
    }
};

RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(MsgT, tutorial_interfaces::msg::Msg2);

#endif // ROS_ADAPTER_HPP