{"id":13704223,"url":"https://github.com/facontidavide/ros_type_introspection","last_synced_at":"2025-05-05T09:33:26.508Z","repository":{"id":110401599,"uuid":"61715647","full_name":"facontidavide/ros_type_introspection","owner":"facontidavide","description":"Deserialize ROS messages that are unknown at compilation time","archived":true,"fork":false,"pushed_at":"2020-09-03T10:51:35.000Z","size":1935,"stargazers_count":61,"open_issues_count":2,"forks_count":30,"subscribers_count":7,"default_branch":"master","last_synced_at":"2024-08-03T21:04:45.862Z","etag":null,"topics":["deserialize","ros-messages","rosbag"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/facontidavide.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.rst","contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2016-06-22T12:01:43.000Z","updated_at":"2024-04-26T20:38:47.000Z","dependencies_parsed_at":null,"dependency_job_id":"1a7305cc-eefb-4b60-8525-e76f67030f8f","html_url":"https://github.com/facontidavide/ros_type_introspection","commit_stats":null,"previous_names":[],"tags_count":35,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/facontidavide%2Fros_type_introspection","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/facontidavide%2Fros_type_introspection/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/facontidavide%2Fros_type_introspection/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/facontidavide%2Fros_type_introspection/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/facontidavide","download_url":"https://codeload.github.com/facontidavide/ros_type_introspection/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224439816,"owners_count":17311531,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["deserialize","ros-messages","rosbag"],"created_at":"2024-08-02T21:01:05.919Z","updated_at":"2024-11-13T11:31:02.114Z","avatar_url":"https://github.com/facontidavide.png","language":"C++","funding_links":[],"categories":["Operation System","Interaction"],"sub_categories":["Database and Record","Storage and Record"],"readme":"# This library will be discontinued !!!\n\nA large refactoring has been done to create a better and simpler library. All the development effort will be moved there.\n\n### Have a look at [ros_msg_parser](https://github.com/facontidavide/ros_msg_parser)\n\n# Ros Message Introspection\n\nThis simple library extracts information from a ROS Message, even when its\ntype is unknown at compilation time. \n\nHave you ever wanted to build an app that can subscribe to __any__ \n`topic` and extract its content, or can read data from __any__ `rosbag`? \nWhat if the topic and/or the bag contains user defined ROS types ignored \nat compilation time?\n\nThe common solution in the ROS ecosystem is to use Python, that provides\nthe needed introspection. Tools, for instance, like __rqt_plot__ and __rqt_bag__ \ntook this approach. This library implements a __C++ alternative__.\n\nThis library is particularly useful to extract data from two type-erasing classes \nprovided by ROS itself:\n\n1. [topic_tools::ShapeShifter](http://docs.ros.org/diamondback/api/topic_tools/html/classtopic__tools_1_1ShapeShifter.html):\na type used to subscribe to any topic, regardless of the original type.\n\n2. [rosbag::MessageInstance](http://docs.ros.org/diamondback/api/rosbag/html/c++/classrosbag_1_1MessageInstance.html):\nthe generic type commonly used to read data from a ROS bag.\n\nPlease take a look to the [examples and unit tests](https://github.com/facontidavide/type_introspection_tests) to see how to use the library.\n\n# Some background\nThe ROS Message Types can be described as \na [Interface Description Language](https://en.wikipedia.org/wiki/Interface_description_language).\nThis approach is very well known and commonly used on the web and in distributed systems in general.\n\nA [rosmsg](http://wiki.ros.org/rosmsg) is defined by the user; an \"IDL compiler\", i.e. \n[gencpp](http://wiki.ros.org/gencpp), \nreads this schema and generates a header file that contains the source code that the user\nshall include in his/her applications.\nThe inclusion of this header file is needed on both the publisher *and* the subscriber sides.\n\nThis approach provides strong and type-safe contracts between the producer and the consumer \nof the message and, additionally, is needed to implements a fast \nserialization / deserialization mechanism.\n\nThe only \"problem\" is that in very few use cases (for instance if you want to build\na plugin to [load ROS bags in MATLAB](https://github.com/bcharrow/matlab_rosbag)) \nyou don't know in advance which ROS Messages you will need to read. \nTherefore, you won't be able to include the necessary header files.\n\n# Acknowledgements\nThis library is inspired by these other libraries \n[matlab_rosbag](https://github.com/bcharrow/matlab_rosbag) and \n[cpp_introspection](https://github.com/tu-darmstadt-ros-pkg/cpp_introspection).\n   \n\n\n\n\n \n\n\n\n \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffacontidavide%2Fros_type_introspection","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ffacontidavide%2Fros_type_introspection","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ffacontidavide%2Fros_type_introspection/lists"}