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zhangshixiang
2026-01-19 15:15:38 +08:00
parent 03f7f44c77
commit 470d7283e4
1 changed files with 27 additions and 1 deletions
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28
unilabos/ros/msgs/message_converter.py
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@@ -374,9 +374,35 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
setattr(ros_msg, key, []) # FIXME
elif "array.array" in str(type(attr)):
if attr.typecode == "f" or attr.typecode == "d":
# 如果是单个值，转换为列表
if value is None:
value = []
elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
value = [value]
setattr(ros_msg, key, [float(i) for i in value])
else:
setattr(ros_msg, key, value)
# 对于整数数组，需要确保是序列且每个值在有效范围内
if value is None:
value = []
elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
# 如果是单个值，转换为列表
value = [value]
# 确保每个整数值在有效范围内（-2147483648 到 2147483647）
converted_value = []
for i in value:
if i is None:
continue # 跳过 None 值
if isinstance(i, (int, float)):
int_val = int(i)
# 确保在 int32 范围内
if int_val < -2147483648:
int_val = -2147483648
elif int_val > 2147483647:
int_val = 2147483647
converted_value.append(int_val)
else:
converted_value.append(i)
setattr(ros_msg, key, converted_value)
else:
nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
setattr(ros_msg, key, nested_ros_msg)