pickle::dump_test

dump_listener_test.py

#!/usr/bin/env python

import rospy
from smach_msgs.msg import SmachContainerStatus

def callback(msg):
    print (pickle.loads(msg.local_data))

def listener():
    rospy.init_node('dump_listener', anonymous=True)
    rospy.Subscriber('/smach/container_status', SmachContainerStatus, callback)
    rospy.spin()

if __name__ == '__main__':
    listener()

dump_publish_test.l

(require :pickle "package://roseus_smach/src/pickle.l")
(ros::roseus-add-msgs "smach_msgs")

(ros::roseus "dump_publisher")
(ros::advertise "/smach/container_status" smach_msgs::SmachContainerStatus 100)

(defun test-msg ()
  (setq *msg* (instance smach_msgs::SmachContainerStatus :init))
  (send *msg* :local_data (pickle::dump '((:hoge ((1 2 3) (4 5 6))))))
  (ros::publish "/smach/container_status" *msg*)
  )

(warn "please run (test-msg) ~%")