https://github.com/swri-robotics/message_serialization

A utility for serializing C++ structures (specifically ROS messages) into YAML and binary formatted files
https://github.com/swri-robotics/message_serialization

ros ros-industrial serialization

Last synced: about 22 hours ago
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A utility for serializing C++ structures (specifically ROS messages) into YAML and binary formatted files

• Host: GitHub
• URL: https://github.com/swri-robotics/message_serialization
• Owner: swri-robotics
• License: apache-2.0
• Created: 2020-06-29T18:38:59.000Z (almost 4 years ago)
• Default Branch: master
• Last Pushed: 2020-12-24T02:41:02.000Z (over 3 years ago)
• Last Synced: 2024-04-20T00:53:28.850Z (about 2 months ago)
• Topics: ros, ros-industrial, serialization
• Language: C++
• Homepage:
• Size: 36.1 KB
• Stars: 11
• Watchers: 5
• Forks: 6
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Lists

• awesome-ros-tools - message_serialization - a header-only utility for serializing C++ structures (specifically ROS messages) into YAML-formatted and binary-formatted files that can be loaded to/from disk.  (Other / Sensors)

README

        
# message_serialization

![](https://github.com/swri-robotics/message_serialization/workflows/CI/badge.svg)

[![license - Apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)

A header-only utility for serializing C++ structures (specifically ROS messages) into YAML-formatted and binary-formatted files that can be loaded to/from disk

## Usage

```c++

// Serialization headers

#include 

#include 

// Datatype-specific serialization header

#include 

int main(int argc, char** argv)

{

  // Create a structure to serialize

  geometry_msgs::PoseStamped ps;

  ps.header.frame = "world";

  ps.header.stamp = ros::Time::now();

  ...

  const std::string filename = "/path/to/save/dir/file.yaml";

  // YAML Serialization

  // Serialize the message

  if(!message_serialization::serialize(filename, ps))

    return -1;

  // De-serialize the message

  geometry_msgs::Pose new_ps;

  if(!message_serialization::deserialize(filename, new_ps))

    return -1;

    

  // Binary serialization (ROS messages only)

  // Serialize the message

  if(!message_serialization::serializeToBinary(filename, ps))

    return -1;

  // De-serialize the message

  if(!message_serialization::deserializeFromBinary(filename, new_ps))

    return -1;

    

  return 0;

}

```

## Customization

Any custom C++ structure can be serialized to YAML with this library, provided that a specific template structure for the custom datatype be specialized in the YAML namespace:

```c++

struct CustomStruct;

namespace YAML

{

  template<>

  struct convert

  {

    static Node encode(const CustomStruct& rhs);

    static bool decode(const Node& node, CustomStruct& rhs);

  };

}

```

See the implementations in the `include` directory for examples on how to implement this structure for a custom data type.