Would like to figure out a standard solution for Generic messages / deserialization.

[Carter12s]

ROS1 we can ignore MD5SUM and just try to deserialize however we want. However we'd need to extend serde_rosmsg further to support enums.

Rosbridge serde_json already handles everything we need, but might have to do some work to make things nicely compatible. Rosbridge server does already have to find message definitions thou?

Problem is ROS2 where the message is baked directly into the mangled topic name...

Best option I can work out to do is to build this as a layer on top of our existing API.

Make something like VaradicSubscriber that under the hood makes two subscribers, and then fuses their results into a single Enum stream, while handling / silencing errors.