util.py

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# Author: Bhaskara Marthi

# Utilities

import roslib

def load_message_class(pkg, msg):
    """
    Given a ROS package and message name, returns the corresponding Python
    class object.
    """
    roslib.load_manifest(pkg)
    m = __import__(pkg+'.msg')
    mod = getattr(m, 'msg')
    return getattr(mod, msg)