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

	binary deb	source deb	devel	doc
noetic

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)

• Check for wrong field types when converting from dict to ros msg
• Check for missing fields when converting from dict to ros msg
• Contributors: Martin Günther, alecarnevale

0.5.1 (2020-05-25)

• Initial release into Noetic
• Decode base64-encoded byte arrays as unicode
• Make tests compatible with python3
• add check for python3 str serializing #33 (#34)
• efficient conversion of primitive array to ros type (#31)
• efficient conversion of primitive array
• removed unused _convert_from_ros_primitive
• optionally ignore extra fields when deserializing (#29)
• Remove EOL distros indigo + lunar from CI
• travis CI: Use matrix to split ROS distros
• Update README (convert to md, add build status)
• Contributors: Martin Günther, George Hartt, Jannik Abbenseth, Omri Rozenzaft

0.5.0 (2019-01-17)

• Initial release into Lunar and Melodic
• Remove support for Jade (EOL)
• Change maintainer from Brandon Alexander to Martin Günther
• Move repo from baalexander to uos
• Add serialize_deserialize to unit tests, fix incorrect tests caught by this
• Remove dependency on ROS master in tests; all tests are now unit tests (#18)
• Add service request/response support (#17)
• Fix fixed-size uint8 array conversion failure (#15)
• Fix unicode handling in string fields (#13)
• Enable testing only if CATKIN_ENABLE_TESTING is set (#9)
• Contributors: Martin Günther, Brandon Alexander, George Laurent, Jean-Baptiste Doyon, Viktor Schlegel, Rein Appeldoorn, Will Baker, neka-nat

0.4.0 (2015-12-13)

• Adds support for ROS Jade
• Removes support for ROS Groovy and Hydro (EOL)
• Uses single branch for all ROS versions
• Docker support for local development and Travis CI

0.3.0 (2014-06-03)

• Adds support for ROS Indigo

0.2.0 (2013-07-15)

• Updates to ROS Hydro
• Builds and runs tests with Travis CI
• Adds CHANGELOG

0.1.4 (2013-04-16)

• Documents Python functions
• Throws error if invalid JSON or dictionary

0.1.3 (2013-03-04)

• Adds rostest dependency

0.1.2 (2013-03-04)

• Adds missing build_depends and run_depends

0.1.1 (2013-03-01)

• Adds message_generation dependency to fix build

0.1.0 (2013-02-27)

• Initial release of rospy_message_converter