Fixing message size issue. (ros-drivers#516)

CU-Hyperloop · Jun 15, 2021 · a5180dc · a5180dc
1 parent 202ecc1
commit a5180dc
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/rosserial_server/include/rosserial_server/session.h b/rosserial_server/include/rosserial_server/session.h
@@ -243,7 +243,9 @@ class Session : boost::noncopyable
     } else {
       if (callbacks_.count(topic_id) == 1) {
         try {
-          callbacks_[topic_id](stream);
+          // stream includes the check sum byte. 
+          ros::serialization::IStream msg_stream(stream.getData(), stream.getLength()-1);
+          callbacks_[topic_id](msg_stream);
         } catch(ros::serialization::StreamOverrunException e) {
           if (topic_id < 100) {
             ROS_ERROR("Buffer overrun when attempting to parse setup message.");