Generic publisher sample

[rlamarche]

Hi,

Would it be possible to have a sample of a generic publisher ?
For example instantiate a message from json and publish it in a specific topic.
I've seen that the ShapeShifter class allows to create generic publisher so I think this would be possible ?

Thank you.

[facontidavide]

JSON to ROS is quite straightforward, whilst ROS to JSON is possible but requires definitively more work.

So the answer is yes, but I don't have time to work on this right now.

[rlamarche]

Thanks for the answer and the amazing work. I will try to do something and if I come to a solution I will publish the sample here.
Regards,

[reinzor]

@rlamarche , did you have a chance to work on this?

@facontidavide , I think you meant ROS to JSON is straight forward since you already implemented this ;)

[rlamarche]

Hi @reinzor , I'm finally not using json to transport my messages, I use directly the binary format.

My client, which is in javascript, uses rosbagjs to parse the message definitions (.msg files), then generate a binary message from a js object, and send it through a websocket or webrtc using the binary format.

Then, with shapeshifter in c++, I can reinject it in a ROS Publisher.