From 3a677cd3beb613919ee7eadd229a3b808786ba09 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Mon, 6 Mar 2023 16:26:16 -0700
Subject: [PATCH] Minimal test

---
 .../test/internal/test_message_conversion.py   | 18 ++++++++++++++++++
 rosbridge_test_msgs/CMakeLists.txt             |  1 +
 .../msg/TestNestedBoundedArray.msg             |  1 +
 3 files changed, 20 insertions(+)
 create mode 100644 rosbridge_test_msgs/msg/TestNestedBoundedArray.msg

diff --git a/rosbridge_library/test/internal/test_message_conversion.py b/rosbridge_library/test/internal/test_message_conversion.py
index 9ccba4f05..f837e6275 100755
--- a/rosbridge_library/test/internal/test_message_conversion.py
+++ b/rosbridge_library/test/internal/test_message_conversion.py
@@ -316,3 +316,21 @@ def test_float32_msg(rostype, data):
             ints = list(map(int, range(0, 16)))
             ret = test_float32_msg(rostype, ints)
             np.testing.assert_array_equal(ret, np.array(ints))
+
+    # Test a float32 array with a length with non-numeric characters in it
+    def test_float32_complexboundedarray(self):
+        def test_nestedboundedarray_msg(rostype, data):
+            msg = {"data": {"data": data}}
+            inst = ros_loader.get_message_instance(rostype)
+            c.populate_instance(msg, inst)
+            self.validate_instance(inst)
+            return inst.data
+
+        for msgtype in ["TestNestedBoundedArray"]:
+            rostype = "rosbridge_test_msgs/" + msgtype
+
+            # From List[float]
+            floats = list(map(float, range(0, 16)))
+            ret = test_nestedboundedarray_msg(rostype, floats)
+
+            self.assertEqual(c._from_inst(ret, rostype), {"data": floats})
diff --git a/rosbridge_test_msgs/CMakeLists.txt b/rosbridge_test_msgs/CMakeLists.txt
index e327c419d..4ef1e87df 100644
--- a/rosbridge_test_msgs/CMakeLists.txt
+++ b/rosbridge_test_msgs/CMakeLists.txt
@@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/TestUInt8FixedSizeArray16.msg
   msg/TestFloat32Array.msg
   msg/TestFloat32BoundedArray.msg
+  msg/TestNestedBoundedArray.msg
   srv/AddTwoInts.srv
   srv/SendBytes.srv
   srv/TestArrayRequest.srv
diff --git a/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg b/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg
new file mode 100644
index 000000000..a35d82372
--- /dev/null
+++ b/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg
@@ -0,0 +1 @@
+TestFloat32BoundedArray data