Create custom ros message instead of using json strings.

extras/ros/pose2d_visualizer/package.xml

@@ -7,6 +7,8 @@
   <maintainer email="root@todo.todo">root</maintainer>
   <license>TODO: License declaration</license>
 
+  <exec_depend>rpt_msgs</exec_depend>
+
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>

extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py

@@ -1,4 +1,3 @@
-import json
 import sys
 import threading
 import time
@@ -10,8 +9,8 @@ import rclpy
 from cv_bridge import CvBridge
 from rclpy.qos import QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 from sensor_msgs.msg import Image
-from std_msgs.msg import String
 
+from rpt_msgs.msg import Pose
 from skelda import utils_view
 
 # ==================================================================================================
@@ -70,8 +69,9 @@ def callback_poses(pose_data):
     if last_input_image is None:
         return
 
-    # Convert pose data from json string
-    poses = json.loads(pose_data.data)
+    # Extract pose data
+    joint_names = pose_data.joint_names
+    bodies2D = np.array(pose_data.bodies_flat).reshape(pose_data.bodies_shape).tolist()
 
     # Collect inputs
     images_2d = []
@@ -83,12 +83,11 @@ def callback_poses(pose_data):
         timestamps.append(ts)
 
     # Visualize 2D poses
-    bodies2D = poses["bodies2D"]
     colors = plt.cm.hsv(np.linspace(0, 1, len(bodies2D), endpoint=False)).tolist()
     colors = [[int(c[0] * 255), int(c[1] * 255), int(c[2] * 255)] for c in colors]
     for i, body in enumerate(bodies2D):
         color = list(reversed(colors[i]))
-        img = utils_view.draw_body_in_image(img, body, poses["joints"], color)
+        img = utils_view.draw_body_in_image(img, body, joint_names, color)
 
     # Publish image with poses
     publish(img)
@@ -131,7 +130,7 @@ def main():
         qos_profile,
     )
     _ = node.create_subscription(
-        String,
+        Pose,
         pose_input_topic,
         callback_poses,
         qos_profile,