Skip to content

ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages

License

Notifications You must be signed in to change notification settings

foxglove/rosmsg-serialization

Repository files navigation

@foxglove/rosmsg-serialization

ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages

npm version

MessageReader

Message reader deserializes ROS messages into plain objects. The messages are fully deserialized.

import { MessageReader } from "@foxglove/rosmsg-serialization";

// message definition comes from `parse()` in @foxglove/rosmsg
const reader = new MessageReader(messageDefinition);

// deserialize a buffer into an object
const message = reader.readMessage([0x00, 0x00, ...]);

// access message fields
message.header.stamp;

LazyMessage

Lazy messages provide on-demand access and deserialization to fields of a serialized ROS message. Creating a lazy message from a buffer performs no de-serialization during creation. Only accessed fields are deserialized; the deserialization occurs at access time.

import { LazyMessageReader } from "@foxglove/rosmsg-serialization";

// message definition comes from `parse()` in @foxglove/rosmsg
const reader = new LazyMessageReader(messageDefinition);

// build a new lazy message instance for our serialized message from the Uint8Array
// Note: since deserialization is lazy - avoid-reusing the array you provide for other messages
const message = reader.readMessage([0x00, 0x00, ...]);

// access message fields
message.header.stamp;

MessageWriter

Convert an object, array, or primitive value into binary data using ROS message serialization.

import { MessageWriter } from "@foxglove/rosmsg-serialization";

// message definition comes from `parse()` in @foxglove/rosmsg
const writer = new MessageWriter(pointStampedMessageDefinition);

// serialize the passed in object to a Uint8Array as a geometry_msgs/PointStamped message
const uint8Array = writer.writeMessage({
  header: {
    seq: 0,
    stamp: { sec: 0, nsec: 0 },
    frame_id: ""
  },
  x: 1,
  y: 0,
  z: 0
});

Test

yarn test

License

@foxglove/rosmsg-serialization is licensed under the MIT License.

Releasing

  1. Run yarn version --[major|minor|patch] to bump version
  2. Run git push && git push --tags to push new tag
  3. GitHub Actions will take care of the rest

Benchmarks

The bench folder contains benchmarks. Run with:

yarn bench
yarn bench:benny

To run benchmarks in web:

yarn bench:web

Stay in touch

Join our Slack channel to ask questions, share feedback, and stay up to date on what our team is working on.

About

ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages

Resources

License

Stars

Watchers

Forks

Packages

No packages published

Languages