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"""Example: Register type from definition string."""
from __future__ import annotations
from rosbags.typesys import Stores, get_types_from_msg, get_typestore
# Your custom message definition
STRIDX_MSG = """
string string
uint32 index
"""
typestore = get_typestore(Stores.ROS2_FOXY)
typestore.register(get_types_from_msg(STRIDX_MSG, 'custom_msgs/msg/StrIdx'))
StrIdx = typestore.types['custom_msgs/msg/StrIdx']
message = StrIdx(string='foo', index=42)
# Rawdata that can be passed to rosbag2.Writer.write
rawdata = typestore.serialize_cdr(message, message.__msgtype__)
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