Merge pull request #1689 from JuliaRobotics/23Q1/maint/dropDFGJSON2

Upgrades to drop JSON3 dependancy in DFG

Author: Affie

Project.toml

@@ -20,6 +20,7 @@ FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
 FunctionalStateMachine = "3e9e306e-7e3c-11e9-12d2-8f8f67a2f951"
 JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
+JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
@@ -58,6 +59,7 @@ FileIO = "1"
 FunctionalStateMachine = "0.2.9"
 JSON = "0.21"
 JSON2 = "0.3"
+JSON3 = "1"
 KernelDensityEstimate = "0.5.6"
 Manifolds = "0.8.15"
 ManifoldsBase = "0.13.12, 0.14"

src/IncrementalInference.jl

@@ -41,7 +41,8 @@ using Dates,
   ProgressMeter,
   DocStringExtensions,
   FunctionalStateMachine,
-  JSON2,
+  JSON2,  
+  JSON3,
   Combinatorics,
   UUIDs,
   TensorCast

src/Serialization/services/SerializingDistributions.jl

@@ -160,7 +160,7 @@ function convert(::Type{<:PackedSamplableBelief}, obj::StringThemSamplableBelief
 end
 convert(::Type{<:SamplableBelief}, obj::PackedSamplableBelief) = unpackDistribution(obj)
 
-function convert(::Type{<:PackedSamplableBelief}, nt::NamedTuple)
+function convert(::Type{<:PackedSamplableBelief}, nt::Union{NamedTuple, JSON3.Object})
   distrType = DFG.getTypeFromSerializationModule(nt._type)
   return distrType(; nt...)
 end