[roseus_smach] fix T/NIL pickling to visualize userdata with smach_viewer

[mqcmd196]

smach_viewer cannot visualize userdata with T/NIL in current roseus_smach pickle implementation. I don't know whether I should fix roseus_smach or smach_viewer, but at least this patch works with the current smach_viewer .

Is #755 needed to test this?

[mqcmd196]

You can test this like

terminal 1

roscore

terminal 2

rosrun smach_viewer smach_viewer.py

terminal 3

rosrun roseus_smach state-machine-ros-sample.l --args '(exec-smach-userdata-bool)'

Without 9289e6a,

2025-03-06.134043.mp4

[mqcmd196]

I'm unsure whether the T/NIL in userdata worked with the current master even in Python2 environment

[knorth55]

I remember it was working correctly with t and NIL in userdata

https://github.com/knorth55/rmui/blob/master/rmuieus/euslisp/common/common-statenet-server.l
https://github.com/start-jsk/jsk_apc/blob/master/demos/selective_dualarm_grasping/euslisp/dualarm-grasp.l

[mqcmd196]

Without 9289e6a and check the topic.

❯ rostopic echo /server_name/smach/container_status
header:
  seq: 1
  stamp:
    secs: 1741250867
    nsecs: 548039983
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(dS'BAR-EXECUTED'\n(ds."
info: ''
---
header:
  seq: 2
  stamp:
    secs: 1741250868
    nsecs: 548400903
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - BAR
local_data: "(dS'BAR-EXECUTED'\n(ds."
info: ''
---
[ERROR][1741250869.550061][/rostopic_228589_1741250864372:rosout]: Characters replaced when decoding message smach_msgs/SmachContainerStatus (will print only once): 'utf-8' codec can't decode byte 0x88 in position 18: invalid start byte
header:
  seq: 3
  stamp:
    secs: 1741250869
    nsecs: 548414211
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(dS'BAR-EXECUTED'\n\uFFFDs."
info: ''
---
header:
  seq: 4
  stamp:
    secs: 1741250870
    nsecs: 548487150
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states: []
local_data: "(dS'BAR-EXECUTED'\n\uFFFDs."
info: ''
---

The local_data is regarded as invalid when decoded with 'utf-8'.

I confirmed there are no errors in the melodic environment.

[mqcmd196]

Just note for me and prediction.

Both

2.irteusgl$ #x88
136
3.irteusgl$ #x89
137

overs ASCII range.

I think the message loses the original byte info when converted to a Python ROS message. The error log is generated at https://github.com/ros/genpy/blob/f70658f2200dfb7c98e99e9cf15be61cfaa1a432/src/genpy/message.py#L91 .

Maybe there are two options:
Use base64 in Python3, or merge this PR? (I have confirmed that this PR works in a melodic environment.)

[mqcmd196]

hmm, ?

[roseus_smach:make] Traceback (most recent call last):
  
                                                                                  
  [roseus_smach:make]   File "/opt/ros/indigo/share/rostest/cmake/../../../bin/rostest", line 36, in <module>
  
                                                                                  
  [roseus_smach:make]     rostestmain()
  
                                                                                  
  [roseus_smach:make]   File "/opt/ros/indigo/lib/python2.7/dist-packages/rostest/__init__.py", line 274, in rostestmain
  
  
                                                                                  
  [roseus_smach:make]     _main()
  
                                                                                  
  [roseus_smach:make]   File "/opt/ros/indigo/lib/python2.7/dist-packages/rostest/rostest_main.py", line 159, in rostestmain
  
                                                                                  
  [roseus_smach:make]     testCase = rostest.runner.createUnitTest(pkg, test_file, options.reuse_master, options.clear, options.results_base_dir)
  
                                                                                  
  [roseus_smach:make]   File "/opt/ros/indigo/lib/python2.7/dist-packages/rostest/runner.py", line 229, in createUnitTest
  
                                                                                  
  [roseus_smach:make]     config = roslaunch.parent.load_config_default([test_file], None)
  
                                                                                  
  [roseus_smach:make]   File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 453, in load_config_default
  
  
                                                                                  
  [roseus_smach:make]     raise RLException(e)
  
  
                                                                                  
  [roseus_smach:make] roslaunch.core.RLException: Invalid <arg> tag: environment variable 'ROS_PYTHON_VERSION' is not set. 
  
                                                                                  
  [roseus_smach:make] 
  
                                                                                  
  [roseus_smach:make] Arg xml is <arg default="$(env ROS_PYTHON_VERSION)" name="_python_version"/>
  
  
                                                                                  
  [roseus_smach:make] Cannot find results, writing failure results to '/github/home/ros/ws_jsk_roseus/build/roseus_smach/test_results/roseus_smach/MISSING-rostest-test_test_unpickle_userdata.xml'