Function readMessages(from ROS toolbox) can't read message type "nmea_msgs/Sentence".

6 次查看（过去 30 天）
Kevin Tarn
Kevin Tarn 2021-3-29
编辑： Kevin Tarn 2021-3-30
To reproduce this BUG:
>> bag = rosbag('any bag contains nmea sentence')
>> nmea = select(bag,"MessageType","nmea_msgs/Sentence")
>> readMessages(nmea,3)
When using readMessages, no matter which row you try to read, you will get this error:
Reference to non-existent field 'Sentence_'.
Error in ros.BagSelection/copyFromStruct (line 661)
cobj.(fc) = objArray(:);
Error in ros.BagSelection/getClassFromStruct (line 630)
ros1msg{k,1} = obj.copyFromStruct(ros1msg{k,1},msgStructs{k});
Error in ros.BagSelection/readMessages (line 275)
msgs = obj.getClassFromStruct(msgStructs);

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回答（1 个）

Karthik Reddy Vennapureddy
Hello Kevin Tarn,
Thanks for reporting the issue. May I know which version of MATLAB are you using? Here are the quick workarounds, which can circumvent this error.
workaround 1: you can try to use 'DataFormat', 'struct' options to read messages from the bag file. I would recommend changing the following line
readMessages(nmea,3)
to
readMessages(nmea, 3, 'DataFormat', 'struct')
This reads messages much faster compared to reading class objects.
workaround 2: If you do not want to use 'DataFormat','struct' options for reading messages, please reach out to Tech Support team.
Thanks,
Karthik Reddy
  1 个评论
Kevin Tarn
Kevin Tarn 2021-3-30
编辑：Kevin Tarn 2021-3-30
I'm using 2020b.
And actually I make a workaround myself:
  1. Open "C:\Program Files\MATLAB\R2020b\toolbox\ros\mlroscpp\+ros\BagSelection.m" in text editor with privilege.
  2. Go to line 661: cobj.(fc) = strObj.(fc);
  3. Replace it with:
if fc(end)=='_'
cobj.(fc) = strObj.(fc(1:end-1));
else
cobj.(fc) = strObj.(fc);
end
This works fine so far (shrug

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