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Non standard msg modules #735

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merged 3 commits into from
Jun 9, 2022
Merged

Non standard msg modules #735

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a2a17e3
attempt to load from non-standard module names
Apr 26, 2022
e5292d0
handle deeply nested submodules
Apr 26, 2022
fb5aeff
subname is more clear and consistent with the _get_class method
Apr 29, 2022
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30 changes: 28 additions & 2 deletions rosbridge_library/src/rosbridge_library/internal/ros_loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,20 @@ def _get_msg_class(typestring):

Throws various exceptions if loading the msg class fails"""
global _loaded_msgs, _msgs_lock
return _get_class(typestring, "msg", _loaded_msgs, _msgs_lock)
try:
# The type string starts with the package and ends with the
# class and contains module subnames in between. For
# compatibility with ROS1 style types, we fall back to use a
# standard "msg" subname.
splits = [x for x in typestring.split("/") if x]
if len(splits) > 2:
subname = ".".join(splits[1:-1])
else:
subname = "msg"

return _get_class(typestring, subname, _loaded_msgs, _msgs_lock)
except (InvalidModuleException, InvalidClassException):
return _get_class(typestring, "msg", _loaded_msgs, _msgs_lock)


def _get_srv_class(typestring):
Expand All @@ -117,7 +130,20 @@ def _get_srv_class(typestring):

Throws various exceptions if loading the srv class fails"""
global _loaded_srvs, _srvs_lock
return _get_class(typestring, "srv", _loaded_srvs, _srvs_lock)
try:
# The type string starts with the package and ends with the
# class and contains module subnames in between. For
# compatibility with ROS1 style types, we fall back to use a
# standard "srv" subname.
splits = [x for x in typestring.split("/") if x]
if len(splits) > 2:
subname = ".".join(splits[1:-1])
else:
subname = "srv"

return _get_class(typestring, subname, _loaded_srvs, _srvs_lock)
except (InvalidModuleException, InvalidClassException):
return _get_class(typestring, "srv", _loaded_srvs, _srvs_lock)


def _get_class(typestring, subname, cache, lock):
Expand Down