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Upgrade to drake 1.26 #334

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merged 1 commit into from
Feb 16, 2024
Merged

Upgrade to drake 1.26 #334

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6 changes: 3 additions & 3 deletions drake_ros/drake.bzl
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Original file line number Diff line number Diff line change
@@ -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",
)
2 changes: 2 additions & 0 deletions drake_ros/drake_ros/core/cc_pybind.cc
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Expand Up @@ -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);
Expand All @@ -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(
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