Header format changed in ROS2

[tlpss]

The sequence ID has apparently been dropped in ROS2 so if you try to use the Header class you get an error:

roslibpy/src/roslibpy/core.py

Line 55 in db741a6

self.data["seq"] = seq

Possible solutions include a flag to switch between ROS1 and ROS2 or adding a separate ROS2 Header class:

class ROS2Header(UserDict):
    """Represents a message header of the ROS 2 type std_msgs/Header."""

    def __init__(self, stamp=None, frame_id=None):
        self.data = {}
        self.data["stamp"] = Time(stamp["secs"], stamp["nsecs"]) if stamp else None
        self.data["frame_id"] = frame_id

[tlpss]

and this would also require dealing with the new class here

[gonzalocasas]

Thanks for the report!

[LeisAlAyoubi]

The sequence ID has apparently been dropped in ROS2 so if you try to use the Header class you get an error:

roslibpy/src/roslibpy/core.py

Line 55 in db741a6

self.data["seq"] = seq

Possible solutions include a flag to switch between ROS1 and ROS2 or adding a separate ROS2 Header class:

class ROS2Header(UserDict):
    """Represents a message header of the ROS 2 type std_msgs/Header."""

    def __init__(self, stamp=None, frame_id=None):
        self.data = {}
        self.data["stamp"] = Time(stamp["secs"], stamp["nsecs"]) if stamp else None
        self.data["frame_id"] = frame_id

I'm using your ROS2Header-Class but when Im echoing the topic and looking at the message, It seems that the frame_id is not being populated with the string I put in. It works fine with the stamp tho. Is this an issue for you too?