Upgrade to drake 1.26 (#334)

Signed-off-by: Aditya Pande <adityapande@google.com>
RobotLocomotion · Feb 16, 2024 · 4c17af0 · 4c17af0
1 parent 9e975d9
commit 4c17af0
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.25.0.tar.gz",  # noqa
-    sha256 = "ebebd812c4f3644cf2fefbbf72835060cbd26e8896a0959ad0fcd2f3428a0547",  # noqa,
-    strip_prefix = "drake-1.25.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.26.0.tar.gz",  # noqa
+    sha256 = "f10b50b695ea29430cc291d1019b4cc1aceedcebec3290110b24b7e48c5f5588",  # noqa,
+    strip_prefix = "drake-1.26.0",
 )
diff --git a/drake_ros/drake_ros/core/cc_pybind.cc b/drake_ros/drake_ros/core/cc_pybind.cc
@@ -56,6 +56,7 @@ class PySerializerInterface : public py::wrapper<SerializerInterface> {
 
   rclcpp::SerializedMessage Serialize(
       const drake::AbstractValue& abstract_value) const override {
+    py::gil_scoped_acquire guard;
     auto overload = [&]() -> py::bytes {
       PYBIND11_OVERLOAD_PURE(py::bytes, SerializerInterface, Serialize,
                              &abstract_value);
@@ -72,6 +73,7 @@ class PySerializerInterface : public py::wrapper<SerializerInterface> {
 
   void Deserialize(const rclcpp::SerializedMessage& serialized_message,
                    drake::AbstractValue* abstract_value) const override {
+    py::gil_scoped_acquire guard;
     const rcl_serialized_message_t& rcl_serialized_message =
         serialized_message.get_rcl_serialized_message();
     py::bytes serialized_message_bytes(