When I tried to use yaml_and_typeinfo_to_rosmsg for a robot application, I found myself having converting a YAML::Node to a string, just so yaml_and_typeinfo_to_rosmsg could re-parse it into a YAML::Node.
In my experience, robot configs that complete even simple tasks require complex YAML trees for their config file. You will be parsing many subtrees into ROS msgs, such as geometry_msgs/Pose and geometry_msgs/TransformStamped.
Specifically, my code would:
- Parse the tree using
yamlcpp.
- Dive down the YAML tree to the selected key (e.g.
yaml_tree["arm"]["waypoints"]["grasp_approach"])
- Convert that
YAML::Node to a string
- Pass that string to
yaml_and_typeinfo_to_rosmsg
yaml_and_typeinfo_to_rosmsg re-parses the YAML.
Suggested Change
A new interface:
void yaml_node_and_typeinfo_to_rosmsg(
const TypeInfo_Cpp * type_info,
const YAML::Node& yaml_node,
void * ros_message)
Leave the interface for yaml_and_typeinfo_to_rosmsg the same, but move most of the code inside to yaml_node_and_typeinfo_to_rosmsg.
Likewise for the other functions that take as input a yaml_str.
When I tried to use
yaml_and_typeinfo_to_rosmsgfor a robot application, I found myself having converting aYAML::Nodeto a string, just soyaml_and_typeinfo_to_rosmsgcould re-parse it into aYAML::Node.In my experience, robot configs that complete even simple tasks require complex YAML trees for their config file. You will be parsing many subtrees into ROS msgs, such as
geometry_msgs/Poseandgeometry_msgs/TransformStamped.Specifically, my code would:
yamlcpp.yaml_tree["arm"]["waypoints"]["grasp_approach"])YAML::Nodeto a stringyaml_and_typeinfo_to_rosmsgyaml_and_typeinfo_to_rosmsgre-parses the YAML.Suggested Change
A new interface:
Leave the interface for
yaml_and_typeinfo_to_rosmsgthe same, but move most of the code inside toyaml_node_and_typeinfo_to_rosmsg.Likewise for the other functions that take as input a yaml_str.