afakih's profile - activity

You would need to do something similar to what's is in 'msg_generator` function which generates python code from the .msg. To load the .msg into a MsgSpec you would need something similar to https://github.com/ros/genmsg/blob/in...

You mean you want to do the de-serialization yourself, without having to import custom_msg.msg? If yes you would be re-doing what genpy does. look at https://github.com/ros/genpy/blob/kin...

It looks like that you have the catkin install option enabled for your workspace and you do not have install rules for the launch files in the packages CMakeLists.txt.

When install is enabled, source devel/setup.bash will source the install space instead of the devel one. To disable the install option do

catkin config --no-install
catkin clean --all

Then rebuild your workspace.

To add an install rule in your CMakeLists.txt, add:

install(DIRECTORY
launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

ros::rate r(10); as it is used, is doing nothing. If you want the loop to run at 10Hz you should call r.sleep() at the end of your while loop.

Currently the loop would run at a rate of 1/(2 + call backs processing time).

for topic, msg_raw, t in bag.read_messages(raw=True):

         msg_type = msg_raw[4]
         msg = msg_type()
         msg.deserialize_numpy(msg_raw[1], numpy)`

To run a catkin test for a specific catkin package, from a directory within that package:

   catkin run_tests --no-deps --this

Something like this would work

  import roslaunch

  uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
  roslaunch.configure_logging(uuid)
  launch = roslaunch.parent.ROSLaunchParent(uuid, [file_path])
  launch.start()