This is a known problem that was fixed in R2021a update3.
Please install R2021a update 3 and generate code again.
As a workaround, can you please deploy the code using "Remote Device" on a VM or your robot?
To deploy the code on a remote device, in Simulink toolstrip, ROS tab, select "Remote Device" option from the "Deploy to" drop-down section in CONNECT tab. You can use "Manage Remote Device" button to set the IP Address, user, password of your VM or remote device.
Let us know if this resolved the issue.