shape_shifter.hpp

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <ros/message_traits.h>
#include <ros/serialization.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_topic_tools/shape_shifter.h>
 
namespace cras
{
 
template<typename T, typename EnableT>
void msgToShapeShifter(const T& msg, ::topic_tools::ShapeShifter& shifter)
{
  // Serialize the message into a byte buffer
  const auto length = ::ros::serialization::serializationLength(msg);
  ::cras::resizeBuffer(shifter, length);
  ::ros::serialization::OStream ostream(::cras::getBuffer(shifter), length);
  ::ros::serialization::serialize(ostream, msg);
  shifter.morph(::ros::message_traits::MD5Sum<T>::value(), ::ros::message_traits::DataType<T>::value(),
                ::ros::message_traits::Definition<T>::value(), "0");
}
 
}