charlielito
commented
2 weeks ago I think this happens for custom-built messages. I managed to implement a workaround to be able to parse them:
def extract_msg_path_from_idl(idl_path):
with open(idl_path, 'r', encoding='utf-8') as idl_file:
idl_content = idl_file.read()
# Try to extract the original .msg file path from content. Usually in the first lines
# there is a part that says "// with input from <path>" and path is related to the original .msg file
msg_file_info = [line for line in idl_content.split('\n') if '// with input from' in line]
if msg_file_info:
msg_path = msg_file_info[0].split('// with input from')[-1].strip()
# Remove "msg/" from the path, since the actual path doesn't have it
msg_path = msg_path.replace('msg/', '')
# Find parent directory of the idl just before the share folder
share_dir = idl_path.split('share')[0]
# Construct the full path to the .msg file
return os.path.join(share_dir, 'share', msg_path)
return idl_path
def stringify_field_types(root_type):
definition = ""
seen_types = set()
deps = [root_type]
is_root = True
while deps:
ty = deps.pop()
parts = ty.split("/")
if not is_root:
definition += "\n================================================================================\n"
definition += f"MSG: {ty}\n"
is_root = False
msg_name = parts[2] if len(parts) == 3 else parts[1]
interface_name = ty if len(parts) == 3 else f"{parts[0]}/msg/{parts[1]}"
# Try to get the .msg file first
msg_path = get_interface_path(interface_name)
# If custom we get instead the .idl implementation
if msg_path.endswith('.idl'):
msg_path = extract_msg_path_from_idl(msg_path)
with open(msg_path, encoding="utf-8") as msg_file:
msg_definition = msg_file.read()
definition += msg_definition
spec = parse_message_string(parts[0], msg_name, msg_definition)
for field in spec.fields:
is_builtin = field.type.pkg_name is None
if not is_builtin:
field_ty = f"{field.type.pkg_name}/{field.type.type}"
if field_ty not in seen_types:
deps.append(field_ty)
seen_types.add(field_ty)
return definitionHope it helps
russkel
Description
If there is no msg files
get_interface_pathwill return an idl path. This is then fed into theparse_message_stringfunction for msg files. This ends up with a lot of errors spamming in the log.https://github.com/RobotWebTools/rosbridge_suite/blob/ros2/rosapi/src/rosapi/stringify_field_types.py#L20
https://github.com/RobotWebTools/rosbridge_suite/blob/ros2/rosapi/src/rosapi/stringify_field_types.py#L24
Steps To Reproduce
Expected Behavior
Either parses IDL using the rosidl parser or errors once it detects the IDL extension and doesn't try to load it again.
Actual Behavior