Serializer for multiple ros messages including moveit_msgs. Supports yaml serialization through rapidyaml.
One of the fastest yaml parser and emiter available.
- Current version: captain-yoshi/rapidyaml/e9ec9fc.
- Built internally to avoid unwanted changes to the global error handler.
- Custom
Tree::has_allmethod for subset node comparaison (not yet merged). C4_DEBUG_BREAKis disabled at runtime in the error handler.
The serialization uses the same ros messages built-in types convention except for the bool/bool[] types. These types are encoded as boolean's true/false instead of uint8_t 1/0.
Encoding a message will give an exact representation of the message (except for boolean's). Decoding a message follows the exact message structure. There are some messages that have optional decoding utilities:
| ROS Msg Type | Alternate Decoding Option |
|---|---|
| geometry_msgs::Point | [x, y, z] |
| geometry_msgs::Vector3 | [x, y, x] |
| geometry_msgs::Quaternion | [x, y, z, w] |
| shape_msgs::Mesh | resource: package://my_pkg_name/mesh.stl dimensions: [x, y, z] |
Encoding for bool MUST be formatted using fmt::boolalpha.
Encoding for floats/double MUST be formated using freal. This is to ensure that the conversion of a floating-point value to text and back is exact. The drawback is that it needs 9 and 17 digits respectively for floats and doubles, thus increasing the size of memory needed.
When emitting to JSON, some floating numbers will automatically be converted. This is to ensure a valid JSON format. Parsing the 8e888 value with a JavaScript parser, e.g. JSON.parse(), will revert the value to Infinity, thus retaining the original value.
| Number | YAML | JSON |
|---|---|---|
| -Infinity | inf | 8e888 |
| +Infinity | -inf | -8e888 |
| NaN | nan | null |
The initial serialization using yaml-cpp was done by Zachary Kingston from the robowflex project.