Hello all!
What am I trying to do?
I have a list of variables of different ROS types (specifically from a Behavior Tree blackboard, but this detail may be irrelevant). I want to save this list (blackboard) to a yaml or json file such that I can later read the file and create a new blackboard with the same data. To accomplish this I need to know the type of each variable in the list so the nodes can covert the data from json/yaml to its corresponding ROS data type.
I’ve been looking into ROS’s dynamic typesupport capabilities such that I can define a dynamic type and declare each variable in such a manner that my node can abstract the variables’ specific type. Specifically, I’m getting familiar with the ros2/rosidl_dynamic_typesupport repo. Unfortunately, I have not found documentation on how to use this tool.
In this post, @gbiggs made a reference to the osrf/dynamic_message_introspection package, but this does not seem to be what I’m looking for. (Please let me know if I’m mistaken).
Questions:
Is there documentation that I can study to better understand ROS’s dynamic typesupport capabilities? If not, can someone point me in the right direction?
Thank you all for your time and attention.
Sergio