ros noetic compatability for pybind converters.hpp

[Marc-404]

No description provided.

[PeterMitrano]

FWIW I am using this on noetic without any issues, and have added a ton of additional messages from moveit

https://github.com/UM-ARM-Lab/pyrosmsg

[Marc-404]

@PeterMitrano Hi, thanks for the information. I tested your fork and it works great. But I had to change two lines of code in one of your files too satisfy all of our tests:

--- a/include/pyrosmsg/converters.hpp
+++ b/include/pyrosmsg/converters.hpp
@@ -380,8 +380,7 @@ struct type_caster<geometry_msgs::TransformStamped>
     object MsgType = mod.attr("TransformStamped");
     object msg = MsgType();
     msg.attr("header") = pybind11::cast(cpp_msg.header);
-    msg.attr("child_frame_id") = pybind11::bytes(reinterpret_cast<const char *>(&cpp_msg.child_frame_id[0]),
-                                                 cpp_msg.child_frame_id.size());
+    msg.attr("child_frame_id") = pybind11::cast(cpp_msg.child_frame_id);
     msg.attr("transform") = pybind11::cast(cpp_msg.transform);
     msg.inc_ref();
     return msg;
@@ -417,8 +416,7 @@ struct type_caster<sensor_msgs::PointField>
     // avoid !!python/unicode problem.
     // msg.attr("name") = pybind11::cast(cpp_msg.name);
     // msg.attr("name") = PyString_FromString(cpp_msg.name.c_str());
-    msg.attr("name") = pybind11::bytes(
-        reinterpret_cast<const char *>(&cpp_msg.name[0]), cpp_msg.name.size());
+    msg.attr("name") = pybind11::cast(cpp_msg.name);

You actually already applied the same change to the header message.

[PeterMitrano]

If you PR that to my fork I will merge it!