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add support for nested arrays #207

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add support for nested arrays #207

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14 changes: 14 additions & 0 deletions ros2topic/ros2topic/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
from rclpy.validate_full_topic_name import validate_full_topic_name
from ros2cli.node.strategy import NodeStrategy
from ros2msg.api import message_type_completer
from rosidl_parser.definition import NamespacedType


def get_topic_names_and_types(*, node, include_hidden_topics=False):
Expand Down Expand Up @@ -114,6 +115,19 @@ def set_msg_fields(msg, values):
except ValueError as e:
raise SetFieldError(field_name, e)
try:
f_type = msg.get_slot_types()[field_name]
# Check if field is an array of ROS message types
if isinstance(field_type(), list):
if isinstance(f_type.basetype, NamespacedType):
# TODO(mikaelarguedas) Consider putting this import logic in a rosidl function
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@dirk-thomas dirk-thomas Mar 15, 2019

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Maybe the new package from ros2/rosidl_python#34 would be a good place for this too.

module = importlib.import_module(
'.'.join(f_type.basetype.namespaces))
field_elem_type = getattr(module, f_type.basetype.name)
for n in range(len(value)):
submsg = field_elem_type()
set_msg_fields(submsg, value[n])
value[n] = submsg

setattr(msg, field_name, value)
except Exception as e:
raise SetFieldError(field_name, e)
Expand Down