Just a few suggestions on maybe how to deal with this:
Given this is kinda a... corner case, just by monkeypatching the method to use a converting method that's already prepared for the usecase:
from sensor_msgs.msg import Image
Image._CONVERT_TO_PY = Image._pre_compiled_conversion_functions.uint8_to_list
node.create_subscription(Image, '/camera/whatever/image_raw', callback)
Of course, this implies generating the the thing I called `_pre_compiled_conversion_functions`. A better name would come up from the experts, I'm sure. Or there could be a function to just enable that in a more friendly way:
`Image.use_list_conversion()`
Or make an option to choose to use the old list way when instantiating a message that contains this specific problem.
from sensor_msgs.msg import Image
Image._CONVERT_TO_PY_MODE = Image._ROS1_COMPATIBILITY_MODE
Or generate two messages when a field of type uint8[] appears:
`from sensor_msgs.msg import Image, Image_ROS1`
Or even allow for every field the mode of conversion in a generic way (keeping the default the most efficient):
from sensor_msgs.msg import Image
Image.data.conversion_type = list
Image.data.conversion_type = bytes
Well, just throwing some ideas around. The monkeypatching way, with maybe a good method name to make it more friendly is probably my favorite.
---
[Visit Topic](
https://discourse.ros.org/t/discussion-about-uint8-type-transport-in-ros2-python/4633/2) or reply to this email to respond.
If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <
http://lists.ros.org/mailman//options/ros-users>
(text/plain)