I’m here to announce the open-source release of ros_babel_fish which enables you to subscribe to and publish on topics with message types unknown at compile time.
Calling services and providing a service server is also supported.
The main focus is on usability, and the message structure is retained.
There are no limitations (that I know of) regarding the complexity or size of the message, e.g., array size.
Dependencies are limited to
OpenSSL (for MD5),
For a benchmark when decoding an unknown message, click here. The library is benchmarked against the existing solution for subscribing to unknown message types ros_type_introspection.
My use case is a plugin for QML that enables publishing, subscribing and calling services directly in QML.
This plugin will be released in the very near future.
It’s currently in alpha state and bugs are expected. Tests for ~95% line coverage are included.
The library was developed and tested using Ubuntu 18.04 and ROS Melodic.
I’m looking forward to hearing your feedback and use cases!