When using the ROS and ROS2 communication functions, OpenRTM-aist has a serializers that support the following ROS / ROS2 message types. If you need something other than the following message types, implement your own serializer to convert to that message type.
Serializer Name | RTM Data Type | ROS,ROS2 Message Type |
ros:std_msgs/Float32, ros2:std_msgs/Float32 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/Float32 |
ros:std_msgs/Float64, ros2:std_msgs/Float64 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/Float64 |
ros:std_msgs/Int8, ros2:std_msgs/Int8 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/Int8 |
ros:std_msgs/Int16, ros2:std_msgs/Int16 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/Int16 |
ros:std_msgs/Int32, ros2:std_msgs/Int32 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/UInt8 |
ros:std_msgs/Int64, ros2:std_msgs/Int64 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/UInt16 |
ros:std_msgs/UInt32, ros2:std_msgs/UInt32 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/UInt32 |
ros:std_msgs/UInt64, ros2:std_msgs/UInt64 |
TimedState,TimedShort, TimedLong,TimedUShort, TimedULong,TimedFloat, TimedDouble |
std_msgs/UInt64 |
ros:std_msgs/Float32MultiArray, ros2:std_msgs/Float32MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Float32MultiArray |
ros:std_msgs/Float32MultiArray, ros2:std_msgs/Float32MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Float32MultiArray |
ros:std_msgs/Float64MultiArray, ros2:std_msgs/Float64MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq, TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Float64MultiArray |
ros:std_msgs/Int8MultiArray, ros2:std_msgs/Int8MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Int8MultiArray |
ros:std_msgs/Int16MultiArray, ros2:std_msgs/nt16MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Int16MultiArray |
ros:std_msgs/Int32MultiArray, ros2:std_msgs/Int32MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Int32MultiArray |
ros:std_msgs/Int64MultiArray, ros2:std_msgs/Int64MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/Int64MultiArray |
ros:std_msgs/UInt8MultiArray, ros2:std_msgs/UInt8MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/UInt8MultiArray |
ros:std_msgs/UInt16MultiArray, ros2:std_msgs/UInt16MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/UInt16MultiArray |
ros:std_msgs/UInt32MultiArray, ros2:std_msgs/UInt32MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/UInt32MultiArray |
ros:std_msgs/UInt64MultiArray, ros2:std_msgs/UInt64MultiArray |
TimedShortSeq,TimedLongSeq, TimedUShortSeq,TimedULongSeq, TimedFloatSeq,TimedDoubleSeq |
std_msgs/UInt64MultiArray |
ros:std_msgs/String, ros2:std_msgs/String |
TimedString | std_msgs/String |
ros:geometry_msgs/PointStamped, ros2:geometry_msgs/PointStamped |
TimedPoint3D | geometry_msgs/PointStamped |
ros:geometry_msgs/QuaternionStamped, ros2:geometry_msgs/QuaternionStamped |
TimedQuaternion | geometry_msgs/QuaternionStamped |
ros:geometry_msgs/Vector3Stamped, ros2:geometry_msgs/Vector3Stamped |
TimedVector3D | geometry_msgs/Vector3Stamped |
ros:sensor_msgs/Image, ros2:sensor_msgs/Image |
CameraImage | sensor_msgs/Image |