rclpy_message_converter

rclpy_message_converter is a lightweight ROS2 package and Python library to convert from Python dictionaries and JSON messages to rclpy messages, and vice versa.

Usage

Convert a dictionary to a ROS message

from rclpy_message_converter import message_converter
from std_msgs.msg import String
dictionary = { 'data': 'Howdy' }
message = message_converter.convert_dictionary_to_ros_message('std_msgs/msg/String', dictionary)

Convert a ROS message to a dictionary

from rclpy_message_converter import message_converter
from std_msgs.msg import String
message = String(data = 'Howdy')
dictionary = message_converter.convert_ros_message_to_dictionary(message)

Convert JSON to a ROS message

from rclpy_message_converter import json_message_converter
from std_msgs.msg import String
json_str = '{"data": "Hello"}'
message = json_message_converter.convert_json_to_ros_message('std_msgs/msg/String', json_str)

Convert a ROS message to JSON

from rclpy_message_converter import json_message_converter
from std_msgs.msg import String
message = String(data = 'Hello')
json_str = json_message_converter.convert_ros_message_to_json(message)

Test

To run the tests:

colcon test

License

Project is released under the BSD license.