rospy_message_converter

Rospy_message_converter is a lightweight ROS package and Python library to convert from Python dictionaries and JSON messages to rospy messages, and vice versa.

ROS 1 and ROS 2 branches

ROS 1 users should use the master branch. ROS 2 users should use the appropriate branch for their distro (foxy/galactic/humble/rolling/…).

Usage

Convert a dictionary to a ROS message

from rospy_message_converter import message_converter
from std_msgs.msg import String
dictionary = { 'data': 'Howdy' }
message = message_converter.convert_dictionary_to_ros_message('std_msgs/String', dictionary)

Convert a ROS message to a dictionary

from rospy_message_converter import message_converter
from std_msgs.msg import String
message = String(data = 'Howdy')
dictionary = message_converter.convert_ros_message_to_dictionary(message)

Convert JSON to a ROS message

from rospy_message_converter import json_message_converter
from std_msgs.msg import String
json_str = '{"data": "Hello"}'
message = json_message_converter.convert_json_to_ros_message('std_msgs/String', json_str)

Convert a ROS message to JSON

from rospy_message_converter import json_message_converter
from std_msgs.msg import String
message = String(data = 'Hello')
json_str = json_message_converter.convert_ros_message_to_json(message)

Test

To run the tests:

catkin_make test

pre-commit Formatting Checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

Project is released under the BSD license.

GitHub actions - Continuous Integration

ROS Buildfarm

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Change Log

0.5.9 (2022-09-12)

• Fix flake8 errors
• Re-format code using black
• package.xml: Add missing build_export_depend
• Fix EOF and trailing whitespace
• Add pre-commit config
• README: Add note about branches
• pass down log_level to helper functions (#60)
• Declare file encoding This is necessary on ROS Melodic (Python2), because I have added a non-ASCII character (u umlaut) in my last commit.
• Add LICENSE file and license headers
• Contributors: Martin Günther, Yuri Rocha

0.5.8 (2022-03-03)

• add option to change log level (#58)
• Contributors: Yuri Rocha

0.5.7 (2021-09-08)

• Handle None values in dictionary
• Add tests for None
• Dockerfile-kinetic: Add --include-eol-distros
• Contributors: Martin Günther

0.5.6 (2021-03-01)

• Propagate strict_mode, check_missing_fields in _convert_to_ros_type Previously, _convert_to_ros_type dropped strict_mode and check_missing_fields in nested messages.
• Add NestedUint8ArrayTestService tests
• propagate check_types in _convert_to_ros_type (#51) Co-authored-by: Martin Günther <<martin.guenther@dfki.de>>
• Fix binary_array_as_bytes=False with nested msgs
• Add param binary_array_as_bytes Closes #45.
• Contributors: Marc Bosch-Jorge, Martin Günther, Otacon5555

0.5.5 (2020-11-09)

• Decode strings from ROS messages as UTF8 This makes the python2 behavior equal to python3.

• python3 only: Validate base64 strings

• Add bytes to python3 string types This means that [bytes]{.title-ref} will now also be base64-decoded, which fixes the following tests on python3:

  • test_dictionary_with_uint8_array_bytes
  • test_dictionary_with_uint8_array_bytes_unencoded

  * test_dictionary_with_3uint8_array_bytes On python2, [bytes]{.title-ref} is just an alias for [str]{.title-ref}, which is why it worked without this.

• Fix and add tests

• Contributors: Martin Günther

0.5.4 (2020-10-13)

• Avoid numpy dependency
• Contributors: Martin Günther, betaboon

0.5.3 (2020-08-20)

• Add check_types parameter to convert_dictionary_to_ros_message (#42)
• Allow numpy numeric types in numeric fields (#41) Fixes #39.
• perf: Remove remaining regexes This is only a small speedup of about 1.03x.
• perf: Avoid regex in _is_field_type_a_primitive_array This makes the function almost 3x faster.
• perf: Reorder type checks Perform the cheaper checks first. This results in a speedup of about 1.2x.
• perf: Avoid regex in is_ros_binary_type This makes is_ros_binary_type almost 5x faster and as a result the whole convert_ros_message_to_dictionary function almost 2x faster.
• Compare types, not type names; improve error message Old error message: TypeError: Wrong type: '1.0' must be float64 New error message: TypeError: Field 'x' has wrong type <type 'numpy.float64'> (valid types: [<type 'int'>, <type 'float'>])
• Remove unused python_to_ros_type_map
• added test for convert_dictionary_to_ros_message with int8 array
• python 3 fix for _convert_to_ros_binary
• Contributors: Martin Günther, Steffen Rühl

0.5.2 (2020-07-09)

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