apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
50 lines
1.7 KiB
ReStructuredText
50 lines
1.7 KiB
ReStructuredText
Serialization and deserialization
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The serialization and deserialization system :py:mod:`rosbags.serde` supports multiple raw message formats. For each format it provides a pair of functions, one for serialization and one for deserialization. In addition to the data to process each function usually only requires the message type name.
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Deserialization
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---------------
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Deserialize a CDR bytes object using :py:func:`deserialize_cdr() <rosbags.serde.deserialize_cdr>`:
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.. code-block:: python
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from rosbags.serde import deserialize_cdr
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# rawdata is of type bytes and contains serialized message
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msg = deserialize_cdr(rawdata, 'geometry_msgs/msg/Quaternion')
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Deserialize a ROS1 bytes object using :py:func:`deserialize_ros1() <rosbags.serde.deserialize_ros1>`:
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.. code-block:: python
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from rosbags.serde import deserialize_ros1
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# rawdata is of type bytes and contains serialized message
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msg = deserialize_ros1(rawdata, 'geometry_msgs/msg/Quaternion')
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Serialization
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---------------
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Serialize a message with CDR using :py:func:`serialize_cdr() <rosbags.serde.serialize_cdr>`:
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.. code-block:: python
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from rosbags.serde import serialize_cdr
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# serialize message with system endianess
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serialized = serialize_cdr(msg, 'geometry_msgs/msg/Quaternion')
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# serialize message with explicit endianess
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serialized = serialize_cdr(msg, 'geometry_msgs/msg/Quaternion', little_endian=False)
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Serialize a message with ROS1 using :py:func:`serialize_ros1() <rosbags.serde.serialize_ros1>`:
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.. code-block:: python
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from rosbags.serde import serialize_ros1
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serialized = serialize_ros1(msg, 'geometry_msgs/msg/Quaternion')
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