fix(interfaces): strip self-package qualifier from same-package .msg field types#17
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mhidalgo-rai merged 4 commits intoJul 6, 2026
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…field types rosidl's type-description generator fails with KeyError when a package's own .msg files use fully qualified self-references such as `proto2ros/Value[] values` (where the enclosing message also belongs to `proto2ros`). The rosidl convention — followed by every other ROS package — is to use bare type names for same-package references and fully qualified names only for cross-package references. Fix dump_message_specification() to strip the self-package prefix from a field's serialised type string when field.type.pkg_name matches the message's own package. Cross-package references and primitive fields are unaffected. Adds three unit tests covering: self-reference stripping, cross-package preservation, and primitive (no-package) fields.
mhidalgo-rai
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June 11, 2026 12:30
mhidalgo-rai
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Jun 11, 2026
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Thanks for the patch @xiangguomin. and sorry for the delay to review.
LGTM!
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@xiangguomin looks like CI isn't happy |
Contributor
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Looks like its just a linting problem in CI. Please install |
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@xiangguomin friendly ping |
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Sorry for the late. I was not checking the for a while. Just pushed the fix. Hopefully it can pass. |
Contributor
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do we need to manually trigger the ci jobs? |
Contributor
Author
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Fixed the unit test failure, please help trigger ci job. @mhidalgo-rai |
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Great! Finally got it merged! Thanks @mhidalgo-rai for the help. |
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Problem
dump_message_specification()emits fully qualified type references for fieldswhose type belongs to the same package as the message being serialised. For
example,
proto2ros/List.msgis generated as:This violates the rosidl convention: same-package references must be bare
(
Value[] values), while cross-package references use thepkg/Typeform.When the generated
.msgfiles are consumed by a Bazelros2_interface_librarytarget, rosidl's type-description generator fails with:
because it looks up
proto2rosin its include map and cannot find the package'sown entry there.
Fix
In
dump_message_specification(), after serialising each field to a string,check whether
field.type.pkg_namematches the enclosing message's package(
message_spec.base_type.pkg_name). If so, strip the self-package prefix fromthe output line. Cross-package references and primitive fields (where
field.type.pkg_name is None) are unaffected.Tests
Three unit tests added to
proto2ros/output/test_interfaces.py:test_dump_strips_self_package_qualifier— verifies the fixtest_dump_preserves_cross_package_qualifier— verifies cross-package refs are untouchedtest_dump_preserves_primitive_fields— verifies messages with no cross-package fields are unaffectedGolden fixture updates
proto2ros_tests::test_message_generationdoes a byte-for-bytefilecmpbetween freshly generated
.msgfiles and the checked-in reference copies inproto2ros_tests/test/generated/. Those reference files encoded the old,buggy self-qualified output (e.g.
proto2ros_tests/Matrix k), so this PRregenerates the 14 affected
.msgfixtures to match the corrected,bare-type output (
Matrix k) now produced bydump_message_specification().No other consumers read these files — they exist solely as the golden
snapshot for this test.
Lint
Also ran
pre-commit run --all-filesto satisfy CI linting (blackreformatted a line in
test_interfaces.py).