apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
67 lines
1.5 KiB
Python
67 lines
1.5 KiB
Python
"""Example: Message instance conversion."""
|
|
|
|
from __future__ import annotations
|
|
|
|
import importlib
|
|
from typing import TYPE_CHECKING
|
|
|
|
import numpy
|
|
|
|
if TYPE_CHECKING:
|
|
from typing import Any
|
|
|
|
NATIVE_CLASSES: dict[str, Any] = {}
|
|
|
|
|
|
def to_native(msg: Any) -> Any: # noqa: ANN401
|
|
"""Convert rosbags message to native message.
|
|
|
|
Args:
|
|
msg: Rosbags message.
|
|
|
|
Returns:
|
|
Native message.
|
|
|
|
"""
|
|
msgtype: str = msg.__msgtype__
|
|
if msgtype not in NATIVE_CLASSES:
|
|
pkg, name = msgtype.rsplit('/', 1)
|
|
NATIVE_CLASSES[msgtype] = getattr(importlib.import_module(pkg.replace('/', '.')), name)
|
|
|
|
fields = {}
|
|
for name, field in msg.__dataclass_fields__.items():
|
|
if 'ClassVar' in field.type:
|
|
continue
|
|
value = getattr(msg, name)
|
|
if '__msg__' in field.type:
|
|
value = to_native(value)
|
|
elif isinstance(value, numpy.ndarray):
|
|
value = value.tolist()
|
|
fields[name] = value
|
|
|
|
return NATIVE_CLASSES[msgtype](**fields)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
from rosbags.typesys.types import (
|
|
builtin_interfaces__msg__Time,
|
|
sensor_msgs__msg__Image,
|
|
std_msgs__msg__Header,
|
|
)
|
|
|
|
image = sensor_msgs__msg__Image(
|
|
std_msgs__msg__Header(
|
|
builtin_interfaces__msg__Time(42, 666),
|
|
'/frame',
|
|
),
|
|
4,
|
|
4,
|
|
'rgb8',
|
|
False,
|
|
4 * 3,
|
|
numpy.zeros(4 * 4 * 3, dtype=numpy.uint8),
|
|
)
|
|
|
|
native_image = to_native(image)
|
|
# native_image can now be passed to the ROS stack
|