Convert Topic Message to Dictionary in Python Callback

1

I would like to save a topic message into a file in a Python callback. I can use a csv.DictWriter if I first convert the message into a dictionary. Is there a better way of converting a message into a dictionary rather than iterating over msg._fields_and_field_types? I cannot use vars() since the message does not have a dict attribute. Is it safe to rely on _fields_and_field_types in future ROS distributions? Thanks!

def _callback(self, msg):
    msg_dict = {field: getattr(msg, field) for field in msg._fields_and_field_types if hasattr(msg, field)}
    self.csv_dict_writer.writerow(msg_dict)
2

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