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lucasw / ros_one2z

Similar node graphs in vanilla ros1 and ros2 and also zenoh, focus on localhost using python but also C++ and maybe rust
BSD 3-Clause "New" or "Revised" License
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ROS message parser of types unknown at compile time and run-time #5

Open lucasw opened 8 months ago

lucasw commented 8 months ago

Follow up https://github.com/lucasw/ros_one2z/issues/4#issuecomment-1783859910- demonstrate that python and C++ (using shapeshifter, possibly ros_msg_parser) message defintions can be had even if the topic type is completely unknown- this must work for plotjuggler to work but make a simple example anyway.

Answer question of where that type is embedded in a ros system- surely every message published doesn't have a copy?

Then make a zenoh demo that demonstrates the same thing, make sure the publisher can publish anything without knowing the type at all- or if extra information is needed make sure it is provided to zenoh (think this is already happening, just point out where here).

Make a custom message, only use it in a private catkin_ws and publish it out using simple python node.

lucasw commented 7 months ago

See what https://github.com/ros2/ros1_bridge does for mapping ros1 types to ros2, copying contents

determine_field_mapping and similar https://github.com/ros2/ros1_bridge/blob/master/ros1_bridge/__init__.py#L547