Decode ROS2 raw byte data using rclpy.serialization.deserialize_message

  ros2/rclpy#1273

Signed-off-by: Tomoya Fujita <[email protected]>

prover_rclpy/setup.py

@@ -74,6 +74,7 @@
             'rclpy_1163_pub = src.rclpy_1163_pub:main',
             'rclpy_1163_sub = src.rclpy_1163_sub:main',
             'rclpy_1199 = src.rclpy_1199:main',
+            'rclpy_1273 = src.rclpy_1273:main',
             'ros2cli_818 = src.ros2cli_818:main',
             'ros2cli_862 = src.ros2cli_862:main',
             'ros2cli_885 = src.ros2cli_885:main',

prover_rclpy/src/rclpy_1273.py

@@ -0,0 +1,20 @@
+from std_msgs.msg import String
+from rclpy.serialization import deserialize_message, serialize_message
+
+# Serialized message data
+#serialized_data = b'\x01\x03\x00\x00\x00\xb3\xa8\xbfFb\x89\xc8\x17\x00\x01\x00\x00I\x00\x00\x00Hello, world! Time(nanoseconds=1713770713401001821, clock_type=ROS_TIME)\x00\x00\x00\x00'
+
+def main():
+    msg = String()
+    msg.data = 'Hello, world!'
+    msg_serialized = serialize_message(msg)
+    print(msg_serialized)
+    msg_deserialized = deserialize_message(msg_serialized, String)
+    print(msg_deserialized)
+
+    #message_type = String()
+    #decoded_data = deserialize_message(serialized_data, String)
+    #print(decoded_data)
+
+if __name__ == "__main__":
+    main()