python uuid and ROS uuid compatability fix

Author: simutisernestas

kf_hungarian_tracker/kf_hungarian_tracker/kf_hungarian_node.py

@@ -165,11 +165,12 @@ def callback(self, msg):
             marker_list = []
             # add current active obstacles
             for obs in filtered_obstacle_list:
-                (r, g, b) = colorsys.hsv_to_rgb(obs.msg.uuid.int % 360 / 360., 1., 1.) # encode id with rgb color
+                obstacle_uuid = uuid.UUID(bytes=bytes(obs.msg.uuid.uuid))
+                (r, g, b) = colorsys.hsv_to_rgb(obstacle_uuid.int % 360 / 360., 1., 1.) # encode id with rgb color
                 # make a cube 
                 marker = Marker()
                 marker.header = msg.header
-                marker.ns = str(obs.msg.uuid)
+                marker.ns = str(obstacle_uuid)
                 marker.id = 0
                 marker.type = 1 # CUBE
                 marker.action = 0
@@ -186,7 +187,7 @@ def callback(self, msg):
                 # make an arrow
                 arrow = Marker()
                 arrow.header = msg.header
-                arrow.ns = str(obs.msg.uuid)
+                arrow.ns = str(obstacle_uuid)
                 arrow.id = 1 
                 arrow.type = 0
                 arrow.action = 0
@@ -202,15 +203,15 @@ def callback(self, msg):
                 arrow.scale.z = 0.05
                 marker_list.append(arrow)
             # add dead obstacles to delete in rviz
-            for idx in dead_object_list:
+            for uuid in dead_object_list:
                 marker = Marker()
                 marker.header = msg.header
-                marker.ns = str(idx)
+                marker.ns = str(uuid)
                 marker.id = 0
                 marker.action = 2 # delete
                 arrow = Marker()
                 arrow.header = msg.header
-                arrow.ns = str(idx)
+                arrow.ns = str(uuid)
                 arrow.id = 1
                 arrow.action = 2
                 marker_list.append(marker)
@@ -239,7 +240,8 @@ def death(self, obj_ind, num_of_obstacle):
             if self.obstacle_list[obs].dying < self.death_threshold:
                 new_object_list.append(self.obstacle_list[obs])
             else:
-                dead_object_list.append(self.obstacle_list[obs].msg.uuid)
+                obstacle_uuid = uuid.UUID(bytes=bytes(self.obstacle_list[obs].msg.uuid.uuid))
+                dead_object_list.append(obstacle_uuid)
 
         # add newly born obstacles
         for obs in range(num_of_obstacle, len(self.obstacle_list)):

kf_hungarian_tracker/kf_hungarian_tracker/obstacle_class.py

@@ -1,6 +1,7 @@
 import numpy as np 
 import cv2
-import uuid 
+import raw_uuid 
+from unique_identifier_msgs.msg import UUID
 
 class ObstacleClass:
     """wrap a kalman filter and extra information for one single obstacle
@@ -17,7 +18,11 @@ class ObstacleClass:
     def __init__(self, obstacle_msg, top_down, measurement_noise_cov, error_cov_post, process_noise_cov):
         '''Initialize with an Obstacle msg and an assigned id'''
         self.msg = obstacle_msg
-        self.msg.uuid = uuid.uuid4()
+
+        uuid_msg = UUID()
+        uuid_msg.uuid = list(uuid.uuid4().bytes)
+        self.msg.uuid = uuid_msg
+        
         position = np.array([[obstacle_msg.position.x, obstacle_msg.position.y, obstacle_msg.position.z]]).T # shape 3*1
         velocity = np.array([[obstacle_msg.velocity.x, obstacle_msg.velocity.y, obstacle_msg.velocity.z]]).T