Decode ROS2 raw byte data using rclpy.serialization.deserialize_message about rclpy HOT 3 OPEN

import asyncio
import websockets
import json

from std_msgs.msg import String
from rclpy.serialization import deserialize_message

from mcap.reader import make_reader
from mcap_ros2.reader import read_ros2_messages
from mcap_ros2.decoder import DecoderFactory

async def handle_event(websocket, message, subscribed):
    # Handle different types of events here
    print("Received event:", message)
    
    if subscribed == False:
        
        subscribed = True
        subsriber = {
            "op": "subscribe",
            "subscriptions": [
                {"id": 3, "channelId": 3} # replace by the selected channel id the subscribe
            ]
        }
        await websocket.send(json.dumps(subsriber))
    
    if type(message) == bytes:
        print("Start to deserialize")
        message_type = String()

        # Decode the message here

        #decoded_data = deserialize_message(serialized_message=message, message_type=message_type)
        
        # print(decoded_data)

async def connect_to_server():
    uri = "ws://0.0.0.0:9090"  # Change this to your server URI
    subscribed = False
    async with websockets.connect(uri, subprotocols=["foxglove.websocket.v1"]) as websocket:
        print("Connected to server.")
        try:
            while True:
                message = await websocket.recv()
                
                await handle_event(websocket, message, subscribed)
                subscribed = True
        except websockets.ConnectionClosed:
            print("Connection to server closed.")

async def main():
    await connect_to_server()

if __name__ == "__main__":
    asyncio.run(main())