msg: rtps: improve verbosity when the the agent is not capable of parsing a specific ID

msg/templates/urtps/RtpsTopics.cpp.em

@@ -119,7 +119,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
         break;
 @[end for]@
         default:
-            printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID to publish\033[0m\n");
+            printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID '%hhu' to publish Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", topic_ID, topic_ID);
         break;
     }
 }
@@ -153,7 +153,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
         break;
 @[end for]@
         default:
-            printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID '%hhu' to getMsg\033[0m\n", topic_ID);
+            printf("\033[1;33m[   micrortps_agent   ]\tUnexpected topic ID '%hhu' to getMsg. Please make sure the agent is capable of parsing the message associated to the topic ID '%hhu'\033[0m\n", topic_ID, topic_ID);
         break;
     }