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Pico-ROS type header file generator

  • Uses rosidl to generate .idl and .json type descriptors from msg and srv files
  • Parses created .json files to generate Pico-ROS user_type header file.
  • Runs on host without ROS installation with virtual enviroment

Usage

pyton generate_type_header.py
  • --packages-dir path(s) to interfaces and their dependancies, searched recursively
  • --output-dir output directrory to store generated .json files
  • --header-file name of generated header file

Limitations

Uses only ROS type_id's supported by picoserdes:


1: 'nested'
2: 'int8'
3: 'uint8'
4: 'int16'
5: 'uint16'
6: 'int32'
7: 'uint32'
8: 'int64'
9: 'uint64'
10: 'float32'
11: 'float64'
13: 'char'
15: 'bool'
16: 'byte'
17: 'string'

50: 'int8[]'
51: 'uint8[]'
52: 'int16[]'
53: 'uint16[]'
54: 'int32[]'
55: 'uint32[]'
56: 'int64[]'
57: 'uint64[]'
58: 'float32[]'
59: 'float64[]'
61: 'char[]'
63: 'bool[]'
64: 'byte[]'
65: 'string[]'

# Implemented as bounded sequence
145: 'nested_unbounded_sequence'
146: 'int8_unbounded_sequence'
147: 'uint8_unbounded_sequence'
148: 'int16_unbounded_sequence'
149: 'uint16_unbounded_sequence'
150: 'int32_unbounded_sequence'
151: 'uint32_unbounded_sequence'
152: 'int64_unbounded_sequence'
153: 'uint64_unbounded_sequence'
154: 'float32_unbounded_sequence'
155: 'float64_unbounded_sequence'
157: 'char_unbounded_sequence'
159: 'bool_unbounded_sequence'
160: 'byte_unbounded_sequence'
161: 'string_unbounded_sequence',

example_types.h

Run ./make_example_types.sh to generate.