Function RosMsgParser::convertToMsgpack

• Defined in File msgpack_utils.hpp

Function Documentation

void RosMsgParser::convertToMsgpack(const FlatMessage &flat_msg, std::vector<uint8_t> &msgpack_data)

Convert a FlatMessage to MessagePack format.

This function serializes a parsed ROS message (FlatMessage) into MessagePack binary format. The FlatMessage contains key-value pairs where keys are field paths and values are variants representing the actual field values.

The MessagePack output is a map where:

• Keys are string field paths (e.g., “header.stamp.sec”)

• Values are the corresponding field values encoded according to their type

Parameters:

• flat_msg – The parsed ROS message to convert

• msgpack_data – Output buffer that will be filled with MessagePack binary data. The buffer is cleared and resized as needed.