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ros noetic compatability for pybind converters.hpp #3

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ros noetic compatability for pybind converters.hpp #3

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1 change: 0 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@ find_package(catkin REQUIRED COMPONENTS
cmake_modules
geometry_msgs
nav_msgs
pybind11
pybind11_catkin
roscpp
rospy
Expand Down
29 changes: 13 additions & 16 deletions include/pyrosmsg/converters.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
#ifndef CONVERTERS_H_L7OWNAZ8
#define CONVERTERS_H_L7OWNAZ8
#pragma once

// TODO
// should break this up by package,
Expand Down Expand Up @@ -101,10 +100,10 @@ struct type_caster<std_msgs::Header> {
msg.attr("seq") = pybind11::cast(header.seq);
msg.attr("stamp") = pybind11::cast(header.stamp);
// avoid !!python/unicode problem.
// msg.attr("frame_id") = pybind11::cast(header.frame_id);
msg.attr("frame_id") =
pybind11::bytes(reinterpret_cast<const char *>(&header.frame_id[0]),
header.frame_id.size());
msg.attr("frame_id") = pybind11::cast(header.frame_id);
// msg.attr("frame_id") =
// pybind11::bytes(reinterpret_cast<const char *>(&header.frame_id[0]),
// header.frame_id.size());
msg.inc_ref();
return msg;
}
Expand Down Expand Up @@ -247,10 +246,10 @@ struct type_caster<geometry_msgs::TransformStamped> {
object MsgType = mod.attr("TransformStamped");
object msg = MsgType();
msg.attr("header") = pybind11::cast(cpp_msg.header);
// msg.attr("child_frame_id") = pybind11::cast(cpp_msg.child_frame_id);
msg.attr("child_frame_id") = pybind11::bytes(
reinterpret_cast<const char *>(&cpp_msg.child_frame_id[0]),
cpp_msg.child_frame_id.size());
msg.attr("child_frame_id") = pybind11::cast(cpp_msg.child_frame_id);
// msg.attr("child_frame_id") = pybind11::bytes(
// reinterpret_cast<const char *>(&cpp_msg.child_frame_id[0]),
// cpp_msg.child_frame_id.size());
msg.attr("transform") = pybind11::cast(cpp_msg.transform);
msg.inc_ref();
return msg;
Expand Down Expand Up @@ -279,10 +278,10 @@ struct type_caster<sensor_msgs::PointField> {
object MsgType = mod.attr("PointField");
object msg = MsgType();
// avoid !!python/unicode problem.
// msg.attr("name") = pybind11::cast(cpp_msg.name);
msg.attr("name") = pybind11::cast(cpp_msg.name);
// msg.attr("name") = PyString_FromString(cpp_msg.name.c_str());
msg.attr("name") = pybind11::bytes(
reinterpret_cast<const char *>(&cpp_msg.name[0]), cpp_msg.name.size());
// msg.attr("name") = pybind11::bytes(
// reinterpret_cast<const char *>(&cpp_msg.name[0]), cpp_msg.name.size());
msg.attr("offset") = pybind11::cast(cpp_msg.offset);
msg.attr("datatype") = pybind11::cast(cpp_msg.datatype);
msg.attr("count") = pybind11::cast(cpp_msg.count);
Expand Down Expand Up @@ -503,7 +502,5 @@ struct type_caster<geometry_msgs::Pose> {
return msg;
}
};
}
}
}}

#endif /* end of include guard: CONVERTERS_H_L7OWNAZ8 */