pybind_rosmsg_typecasters.cpp

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/* Author: Robert Haschke */
 
#include <moveit/python/pybind_rosmsg_typecasters.h>
 
namespace py = pybind11;
namespace moveit
{
namespace python
{
py::object createMessage(const std::string& ros_msg_name)
{
  // find delimiting '/' in ros msg name
  std::size_t pos = ros_msg_name.find('/');
  // import module
  py::module m = py::module::import((ros_msg_name.substr(0, pos) + ".msg").c_str());
  // retrieve type instance
  py::object cls = m.attr(ros_msg_name.substr(pos + 1).c_str());
  // create message instance
  return cls();
}
 
bool convertible(const pybind11::handle& h, const char* ros_msg_name)
{
  try
  {
    PyObject* o = h.attr("_type").ptr();
    return py::cast<std::string>(o) == ros_msg_name;
  }
  catch (const std::exception& e)
  {
    return false;
  }
}
}  // namespace python
}  // namespace moveit