robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

fix TypeHash

Browse source
This commit is contained in:
shalenikol 2025-05-26 18:08:01 +03:00
parent 125fb14cb7
commit 6356d1d0fe
1 changed files with 10 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

15
rbs_utils/rbs_utils/scripts/recording_demo_via_rosbag.py
View file

@ -24,6 +24,8 @@ from sensor_msgs.msg import JointState, Image, CompressedImage
from rbs_utils.recording_demo import CommandType
#'get_type_description': 'type_description_interfaces/srv/GetTypeDescription'
NODE_NAME_DEFAULT = "lc_record_demo"
PARAM_SKILL_CFG = "lc_record_demo_cfg"
@ -104,17 +106,20 @@ class RecordingDemo(Node):
self.rec_folder = self.init_output_folder(self.output_path)
self.writer = rosbag2_py.SequentialWriter()
storage_options = rosbag2_py._storage.StorageOptions(uri=self.rec_folder, storage_id=WRITER_ID)
converter_options = rosbag2_py._storage.ConverterOptions("", "")
storage_options = rosbag2_py.StorageOptions(uri=self.rec_folder, storage_id=WRITER_ID)
converter_options = rosbag2_py.ConverterOptions("", "")
self.writer.open(storage_options, converter_options)
self.topics = self.get_list_topics()
for id, topic in enumerate(self.topics):
topic_info = rosbag2_py._storage.TopicMetadata(
# for type_hash
pub_infos = self.get_publishers_info_by_topic(topic["name"])
topic_info = rosbag2_py.TopicMetadata(
id,
name=topic["name"],
type=topic["type"],
serialization_format=self.serialization)
serialization_format=self.serialization,
type_description_hash=str(pub_infos[0].topic_type_hash))
self.writer.create_topic(topic_info)
self.get_logger().info(f"Topics: {id+1}) {topic}")