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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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Non ASCII characters in message definitions are problematic #8

Closed nicolaje closed 5 years ago

nicolaje commented 6 years ago

Hello again,

non-ASCII characters in msg definitions are problematic even in comments : https://github.com/ros/ros_comm/issues/143

This is especially an issue when replaying rosbags and trying to apply filters : this causes the filters to fail.

Characters such as "µ, °, σ" should be removed from the message definitions, e.g: https://github.com/ENSTABretagneRobotics/sbg_ros_driver/blob/f56ede11bcf29f3456e50a4565ac6baaff6d2d11/msg/SbgEkfEuler.msg#L5

Thank you for this driver!

Jeremy

ThomasLeMezo commented 6 years ago

The message file has been changed

nicolaje commented 5 years ago

Hi @ThomasLeMezo , that is still an issue with the other messages being published. Example:

rosbag filter 2018-10-26-11-19-42.bag 2018-10-26-11-19-42_1.bag "t.secs <= 1540545740.895"
 2018-10-26-11-19-42_1.bag                                      0%   0.0 KB /  28.5 GB --:-- ETATraceback (most recent call last):
  File "/opt/ros/melodic/bin/rosbag", line 35, in <module>
    rosbag.rosbagmain()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/rosbag_main.py", line 1012, in rosbagmain
    cmds[cmd](argv[2:])
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/rosbag_main.py", line 372, in filter_cmd
    for topic, raw_msg, t, conn_header in inbag.read_messages(raw=True, return_connection_header=True):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 2679, in read_messages
    yield self.seek_and_read_message_data_record((entry.chunk_pos, entry.offset), raw, return_connection_header)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 2842, in seek_and_read_message_data_record
    msg_type = _get_message_type(connection_info)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 1895, in _get_message_type
    message_type = genpy.dynamic.generate_dynamic(info.datatype, info.msg_def)[info.datatype]
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/dynamic.py", line 168, in generate_dynamic
    tmp_file.file.write(full_text.encode())
UnicodeDecodeError: 'ascii' codec can't decode byte 0xc2 in position 513: ordinal not in range(128)

here the special characters in the other sbg messages prevent the use of the filter command

ThomasLeMezo commented 5 years ago

Hi @nicolaje, I have corrected the msg, let me know if you find any other ascii characters in the last commit.

Thomas

jmount1992 commented 5 years ago

Hi @ThomasLeMezo there are still special characters in some of the message definitions. You can easily check a file's encoding by going to the sbg_driver/msg folde rand running

file *.msg

It will tell you which have UTF-8 encoding. I know the following files had special characters:

Cheers, James