pyrosmsg

CMakeLists.txt

@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(pymsg)
+project(pyrosmsg)
 
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
 find_package(catkin REQUIRED COMPONENTS
   cmake_modules
   geometry_msgs
   nav_msgs
-  pybind11_module
+  pybind11_catkin
   roscpp
   rospy
   sensor_msgs
@@ -16,10 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(NUMPY REQUIRED)
-find_package(Eigen3 3.3.1 REQUIRED)
-
-set(PY_PROJECT_NAME ${PROJECT_NAME})
-set(PY_PACKAGE_DIR python/${PROJECT_NAME})
+find_package(pybind11 REQUIRED)
 
 catkin_python_setup()
 
@@ -30,30 +27,22 @@ catkin_package(
     cmake_modules
     geometry_msgs
     nav_msgs
-    pybind11_module
+    pybind11_catkin
     roscpp
     rospy
     sensor_msgs
     std_msgs
     visualization_msgs
-#  DEPENDS system_lib
+    #DEPENDS system_lib
 )
 
-###########
-## Build ##
-###########
-
-
 include_directories(
     include
-    ${Eigen3_INCLUDE_DIR}
     ${catkin_INCLUDE_DIRS}
+    #${PYBIND11_INCLUDE_DIRS}
 )
 
-add_python_export_library(${PY_PROJECT_NAME} ${PY_PACKAGE_DIR}
+message("pybind11_include_dir " ${PYBIND11_INCLUDE_DIRS})
+pybind_add_module(libpyrosmsg
     src_wrap/module.cpp
 )
-
-target_link_libraries(${PY_PROJECT_NAME}
-    ${catkin_LIBRARIES}
-)

include/pymsg/converters.hpp → include/pyrosmsg/converters.hpp

@@ -80,7 +80,9 @@ template <> struct type_caster<std_msgs::Header> {
      object msg = MsgType();
      msg.attr("seq") = pybind11::cast(header.seq);
      msg.attr("stamp") = pybind11::cast(header.stamp);
-     msg.attr("frame_id") = pybind11::cast(header.frame_id);
+     // 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.inc_ref();
      return msg;
    }
@@ -196,7 +198,8 @@ template <> 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::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;
@@ -219,7 +222,10 @@ template <> struct type_caster<sensor_msgs::PointField> {
     object mod = module::import("sensor_msgs.msg._PointField");
     object MsgType = mod.attr("PointField");
     object msg = MsgType();
-    msg.attr("name") = pybind11::cast(cpp_msg.name);
+    // avoid !!python/unicode problem.
+    //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("offset") = pybind11::cast(cpp_msg.offset);
     msg.attr("datatype") = pybind11::cast(cpp_msg.datatype);
     msg.attr("count") = pybind11::cast(cpp_msg.count);
@@ -268,11 +274,9 @@ template <> struct type_caster<sensor_msgs::PointCloud2> {
     msg.attr("is_bigendian") = pybind11::cast(cpp_msg.is_bigendian);
     msg.attr("point_step") = pybind11::cast(cpp_msg.point_step);
     msg.attr("row_step") = pybind11::cast(cpp_msg.row_step);
-    std::string data_str(cpp_msg.data.begin(), cpp_msg.data.end());
-    pybind11::bytes data_str2(data_str);
-    msg.attr("data") = data_str2;
+    //msg.attr("data") = pybind11::bytes(std::string(cpp_msg.data.begin(), cpp_msg.data.end()));
+    msg.attr("data") = pybind11::bytes(reinterpret_cast<const char *>(&cpp_msg.data[0]), cpp_msg.data.size());
     msg.attr("is_dense") = pybind11::cast(cpp_msg.is_dense);
-
     msg.inc_ref();
     return msg;
   }
@@ -289,9 +293,7 @@ template <> struct type_caster<sensor_msgs::Image> {
     value.encoding = src.attr("encoding").cast<std::string>();
     value.is_bigendian = src.attr("is_bigendian").cast<int>();
     value.step = src.attr("step").cast<uint32_t>();
-
     std::string data_str = src.attr("data").cast<std::string>();
-    //value.data = std::vector<uint8_t>(data_str.c_str(), data_str.c_str()+data_str.length());
     value.data.insert(value.data.end(), data_str.c_str(), data_str.c_str()+data_str.length());
     return true;
   }
@@ -306,12 +308,8 @@ template <> struct type_caster<sensor_msgs::Image> {
     msg.attr("encoding") = pybind11::bytes(cpp_msg.encoding);
     msg.attr("is_bigendian") = pybind11::cast(cpp_msg.is_bigendian);
     msg.attr("step") = pybind11::cast(cpp_msg.step);
-
-    // TODO not sure if this works
-    pybind11::bytes data_str(reinterpret_cast<const char *>(&cpp_msg.data[0]), cpp_msg.data.size());
-    //std::string data_str(img.data.begin(), img.data.end());
-    msg.attr("data") = data_str;
-
+    //msg.attr("data") = pybind11::bytes(std::string(cpp_msg.data.begin(), cpp_msg.data.end()));
+    msg.attr("data") = pybind11::bytes(reinterpret_cast<const char *>(&cpp_msg.data[0]), cpp_msg.data.size());
     msg.inc_ref();
     return msg;
   }
@@ -363,6 +361,7 @@ template <> struct type_caster<sensor_msgs::CameraInfo> {
     object mod = module::import("sensor_msgs.msg._CameraInfo");
     object MsgType = mod.attr("CameraInfo");
     object msg = MsgType();
+
     msg.inc_ref();
     return msg;
   }

include/pymsg/serialization.hpp → include/pyrosmsg/serialization.hpp

@@ -16,7 +16,7 @@
 
 #include <ros/ros.h>
 
-namespace ca { namespace pymsg {
+namespace pyrosmsg {
 
 // in python
 // buf = StringIO.StringIO()
@@ -30,8 +30,8 @@ namespace ca { namespace pymsg {
 template <class MsgT>
 std::string serialize(const MsgT& msg) {
   uint32_t serial_size = ros::serialization::serializationLength(msg);
-  // in practice we could directly use a string.c_str() but that is living dangerously
-  //boost::shared_array<uint8_t> obuffer(new uint8_t[serial_size]);
+  // we could directly use a string.c_str(), but not sure if
+  // that could have ownership issues
   uint8_t* obuffer = new uint8_t[serial_size];
   ros::serialization::OStream os(obuffer, serial_size);
   ros::serialization::serialize(os, msg);
@@ -51,6 +51,6 @@ void deserialize(const std::string s, MsgT& msg) {
   delete[] ibuffer;
 }
 
-} }
+}
 
 #endif /* end of include guard: SERIALIZATION_H_QC30JWRG */

package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>pymsg</name>
+  <name>pyrosmsg</name>
   <version>0.0.0</version>
-  <description>The pymsg package</description>
+  <description>The pyrosmsg package</description>
 
   <maintainer email="[email protected]">dmaturan</maintainer>
 
@@ -12,7 +12,8 @@
 
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>pybind11_module</depend>
+  <!--<depend>pybind11_module</depend>-->
+  <depend>pybind11_catkin</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
   <depend>sensor_msgs</depend>

python/pymsg/__init__.py → python/pyrosmsg/__init__.py

@@ -8,4 +8,4 @@
 #
 # @=
 
-from libpymsg import *
+from libpyrosmsg import *

scratch/sanity.py

@@ -8,22 +8,22 @@
 
 import cv_bridge
 
-import pymsg
+import pyrosmsg
 import pypcd
 
-#ts = pymsg.make_time()
+#ts = pyrosmsg.make_time()
 #print ts
 #
 #tsp = rospy.Time()
-#pymsg.print_time(tsp)
+#pyrosmsg.print_time(tsp)
 #
-#hdr = pymsg.make_header(32)
+#hdr = pyrosmsg.make_header(32)
 #print hdr
 #
-#pymsg.print_header_seq(hdr)
+#pyrosmsg.print_header_seq(hdr)
 #
 #print
-#cloud = pymsg.make_pc2(32)
+#cloud = pyrosmsg.make_pc2(32)
 #print cloud
 #
 #print
@@ -36,15 +36,15 @@
 
 print 'pc_msg.width:', pc_msg.width
 
-pymsg.print_centroid(pc_msg)
+pyrosmsg.print_centroid(pc_msg)
 print pc_data.mean(0)
 
 #
 #print 'ci'
 #
 #ci = CameraInfo()
 #print ci
-#pymsg.print_cam_info(ci)
+#pyrosmsg.print_cam_info(ci)
 #
 #print 'img'
 #print
@@ -55,9 +55,9 @@
 #img_msg = bridge.cv2_to_imgmsg(cv_img, encoding='passthrough')
 #print img_msg
 #print '---'
-#pymsg.print_img(img_msg)
+#pyrosmsg.print_img(img_msg)
 #
 #print '***'
-#img_msg2 = pymsg.make_img(8, 8)
+#img_msg2 = pyrosmsg.make_img(8, 8)
 #print img_msg2
 #cv_img2 = bridge.imgmsg_to_cv2(img_msg2, desired_encoding='passthrough')

scratch/serialization.py

@@ -1,7 +1,6 @@
 
 import cStringIO as StringIO
 import numpy as np
-from pymsg import libpymsg
 
 from sensor_msgs.msg import PointCloud2
 
@@ -10,7 +9,7 @@
 
 import pypcd
 
-import pymsg.libpymsg
+import pyrosmsg
 
 pc = pypcd.PointCloud.from_path('./tmp.pcd')
 msg = pc.to_msg()
@@ -20,11 +19,11 @@
 
 def with_caster(m):
     # 38.4 us per loop,
-    pymsg.libpymsg.print_centroid(m)
+    pyrosmsg.print_centroid(m)
 
 def with_serial(m):
     # 117 us
     buf = StringIO.StringIO()
     m.serialize(buf)
     smsg = buf.getvalue()
-    pymsg.libpymsg.print_centroid2(smsg)
+    pyrosmsg.print_centroid2(smsg)

scratch/unicheck.py

@@ -0,0 +1,15 @@
+
+import copy
+import numpy as np
+import rospy
+from std_msgs.msg import Header
+from sensor_msgs.msg import CameraInfo
+from sensor_msgs.msg import Image
+
+import cv_bridge
+
+import pymsg
+
+hdr = pyrosmsg.make_header(32, "header")
+print hdr
+

setup.py

@@ -1,12 +1,11 @@
-
 ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=['pymsg'],
+    packages=['pyrosmsg'],
     package_dir={'':'python'})
 
 setup(**setup_args)