Rework python ROS2 (de)serialization using parsed ROS2 messages directly #415
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Use ROS2 types as type info to ensure that serialization type matches exactly. This is necessary because the types need to match exactly, otherwise the serialization or deserialization will result in invalid data. Using arrow schemas to specify the ROS2 message types does not work because not all ROS2 message types can be represented. For example, ROS2 serializes arrays with known length differently than sequences with dynamic length.
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Arrow has a special `BinaryArray` type for storing lists of variable-sized binary data efficiently. This type is equivalent to a `ListArray` of `PrimitiveArray<u8>`, but it is a different data type. This commit updates the Python ROS2 serialization code to permit BinaryArray for all uint8 array or sequence fields.
haixuanTao
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libraries/extensions/ros2-bridge/python/src/typed/serialize/mod.rs
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Required because arrow uses column-oriented data format, which requires all struct fields to have length 1.
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| let empty = HashMap::new(); | ||
| let package_messages = self | ||
| .type_info | ||
| .messages | ||
| .get(self.type_info.package_name.as_ref()) | ||
| .unwrap_or(&empty); | ||
| let message = package_messages | ||
| .get(self.type_info.message_name.as_ref()) | ||
| .ok_or_else(|| { | ||
| error(format!( | ||
| "could not find message type {}::{}", | ||
| self.type_info.package_name, self.type_info.message_name | ||
| )) | ||
| })?; |
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Same thing I think, message can be cached, otherwise this is going to happen at each ser/de.
libraries/extensions/ros2-bridge/python/src/typed/serialize/mod.rs
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Co-authored-by: Haixuan Xavier Tao <[email protected]>
haixuanTao
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Jan 25, 2024
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Use ROS2 types as type info to ensure that serialization type matches exactly. This is necessary because the types need to match exactly, otherwise the serialization or deserialization will result in invalid data.
Using arrow schemas to specify the ROS2 message types does not work because not all ROS2 message types can be represented. For example, ROS2 serializes arrays with known length differently than sequences with dynamic length.
Other improvements:
Add support for serializing arrow
BinaryArraytypesArrow has a special
BinaryArraytype for storing lists of variable-sized binary data efficiently. This type is equivalent to aListArrayofPrimitiveArray<u8>, but it is a different data type.This PR updates the Python ROS2 serialization code to permit BinaryArray for all uint8 array or sequence fields. Fixes Error when trying to publish a PointCloud2 message from dora to ros2 dora-autoware#10