Uninvited visitors

Okay so I need some advice..

My husbands grandparents have always been the type of people to just show up at our house to visit.

This bothered me but I never said anything until our baby was born and we both feel like a courtesy call would be appreciated! Now she is four months and we just would like a text to ask if they can come round and to give us a rough time in case we are out or busy.

One time they showed up and we weren’t in, and they got mad at us because they wasted a journey!

So my husband said to his grandparents can you give us notice when you are wanting to visit or at least call first! They took extreme offence to this and are now not speaking to us. They have said why should they have to let us know since they are family!

Are we wrong/is this unreasonable?

Update: so my husbands grandmother text me today, they think it is “absolutely unbelievable they need to make an appointment to see us” sigh I give up!