Bugfix: Guess ROS msgs types within package before selecting external to package type

[rugged-robotics]

In some scenarios for msg types defined with fields of types with the same type name as types that exist in other packages, the type will be resolved to a package which is not that of the root type containing the field. As an example:

motion_msgs/Motion defined as:

uint8 type
float64 start_time
float64 duration
Point start_point
Point end_point

etc..

The Point in this type is part of our motion_msgs package and thus is referred to without a package name. When being deserialized it current is resolved to geometry_msgs/Point instead of motion_msgs/Point, resulting in a size mismatch and overrun further into deserializing the msg.

The change in the PR would check for the existence of a Point type with the same package as motion_msgs/Motion, matching motion_msgs/Point first instead of geometry_msgs, before matching a type outside the root type's package.

This appears to have been introduced in the latest ROS refactor somehow as we haven't had any issues loading bag files with this type in the past.

Attached bag showing a buffer overrun in the deserialization due to using geometry_msgs/Point instead of the custom defined motion_msgs/Point when deserializing the motion_msgs/Motion type. Bag contains exactly one of the offending msg.

plotjuggler_test_case.zip

[rugged-robotics]

branch re-based onto latest main post release

[facontidavide]

looks good. Thanks!