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dynamic_message_introspection

This repo demonstrates how to do introspection of C and C++ messages. The dynmsg package can convert ROS 2 messages into a YAML representation, and convert a YAML representation into ROS 2 messages.

The initial development of this code (with support for C messages) was graciously supported by Rocos (@rocos.io). C++ messages support was added by Christophe Bédard.

The dynmsg_demo package contains a demonstration of how to do dynamic introspection of messages using the rcl message API.

Examples

For a C message, see conversion.c. For a C++ message, see conversion.cpp.

For more examples, see the message conversion tests for dynmsg.