fix issue where if ROS 2 entry includes a path, it will also ingest the whole json message. Also fix util parse function to return None if it finds None

Author: tanim-islm

formant_ros2_adapter/scripts/main.py

@@ -930,6 +930,7 @@ def handle_ros2_message(self, msg, subscriber_config):
                             f"ERROR: Could not find path '{path_config['path']}' in message {msg_type}"
                         )
                         pass
+                return
 
             msg_timestamp = int(time.time() * 1000)
             if hasattr(msg, "header"):

formant_ros2_adapter/scripts/message_utils/utils.py

@@ -54,6 +54,8 @@ def parse(m):
         return NUMPY_DTYPE_TO_BUILTIN_MAPPING[type(m)](m)
     elif type(m) in [list, array.array, np.ndarray]:
         return [parse(o) for o in m]
+    elif m is None:
+        return None
     else:
         return {k: parse(getattr(m, k)) for k in m._fields_and_field_types}