How do I Use Unicode Strings in pubish/subscribe?

asked 2017-08-30 01:52:22 -0500

NGI
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I want to publish and subscribe unicode strings (multibyte text). but, If I did it then UnicodeEncodeError was Occured.

Can I use multibyte text in publish and subscribe ?

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answered 2017-08-30 02:54:29 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Can I use multibyte text in publish and subscribe ?

I don't think that it is supported in ROS1. From ros/wiki/msg - Fields:

unicode strings are currently not supported as a ROS data type. utf-8 should be used to be compatible with ROS string serialization. In python 2, this encoding is automatic for unicode objects, but decoding must be done manually. In python 3, when using str, both encoding and decoding using 'utf-8' in the generated message code.

One workaround I can think of is to instead of using the string type, using the uint8 type. Serialise your wide-string yourself into that uint8 array, publish it, and in the subscriber recreate the wide-string.

That is not nice (as you lose the type info), but could work.

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Thank you for your answer.

I understood it.

For a while, I'll try it.

NGI ( 2017-08-30 03:00:52 -0500 )edit

I checked it.Thanks!

And, I found other way. I can recieve Unicode Message by above sequence.

in Publish Node: Original text [unicode] => text.encode('utf-8') [change to str] => publish in Subscribe Node: subscribe => text=data.data [str] => text.decode('utf-8') [unicode]

Thanks!

NGI ( 2017-08-30 03:32:42 -0500 )edit

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If that works, then you should post it as an answer instead of a comment.