Created
April 30, 2023 21:52
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ROS messages to JSON and back
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| import os | |
| import importlib | |
| import rosidl_runtime_py | |
| import json | |
| def get_msg_type(type): | |
| symbol = os.path.basename(type) | |
| module = ".".join(os.path.split(os.path.dirname(type))) | |
| return getattr(importlib.import_module(module), symbol) | |
| def __msg_to_dict(msg): | |
| return rosidl_runtime_py.message_to_ordereddict(msg) | |
| def __dict_to_msg(type_name, values): | |
| instance = get_msg_type(type_name)() | |
| rosidl_runtime_py.set_message_fields(instance, values) | |
| return instance | |
| def msg_to_json(msg): | |
| return json.dumps(__msg_to_dict(msg)) | |
| def json_to_msg(type_name, json_string): | |
| return __dict_to_msg(type_name, json.loads(json_string)) | |
| # Example | |
| Pose = get_msg_type('turtlesim/msg/Pose') | |
| p = Pose() | |
| p.x = 1.0 | |
| p.y = 2.0 | |
| p.x = 4.653351783752441 | |
| p.y = 5.970754623413086 | |
| p.theta = -0.9212489724159241 | |
| p.linear_velocity = 2.0 | |
| p.angular_velocity = 1.7999999523162842 | |
| json_string = msg_to_json(p) | |
| q = json_to_msg('turtlesim/msg/Pose', json_string) | |
| p == q |
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