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Bugfix: Guess ROS msgs types within package before selecting external to package type #922

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merged 1 commit into from
Jan 25, 2024
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Bugfix: Guess ROS msgs types within package before selecting external to package type #922

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26 changes: 24 additions & 2 deletions plotjuggler_plugins/ParserROS/rosx_introspection/src/ros_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,12 +126,34 @@ std::vector<ROSMessage::Ptr> ParseMessageDefinitions(const std::string& multi_de
// if package name is missing, try to find msgName in the list of known_type
if (field.type().pkgName().empty())
{
std::vector<ROSType> guessed_type;

for (const ROSType& known_type : known_type)
{
if (field.type().msgName() == known_type.msgName())
{
field.changeType(known_type);
break;
guessed_type.push_back(known_type);
}
}

if (!guessed_type.empty())
{
bool better_match = false;

// attempt to match ambiguous ros msg within package before
// using external known type
for (const ROSType& guessed_type : guessed_type) {
if (guessed_type.pkgName() == root_type.pkgName()) {
field.changeType(guessed_type);
better_match = true;
break;
}
}

// if nothing from the same package, take a guess with the first matching msg name
if (!better_match)
{
field.changeType(guessed_type[0]);
}
}
}
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