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https://github.com/foxglove/rosmsg
ROS 1 and ROS 2 message definition parser
https://github.com/foxglove/rosmsg
browser idl msg nearley nodejs parser ros ros2 typescript
Last synced: 3 months ago
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ROS 1 and ROS 2 message definition parser
- Host: GitHub
- URL: https://github.com/foxglove/rosmsg
- Owner: foxglove
- License: mit
- Created: 2021-06-24T21:48:43.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2024-04-24T21:15:42.000Z (10 months ago)
- Last Synced: 2024-05-01T19:13:01.959Z (9 months ago)
- Topics: browser, idl, msg, nearley, nodejs, parser, ros, ros2, typescript
- Language: TypeScript
- Homepage:
- Size: 214 KB
- Stars: 10
- Watchers: 6
- Forks: 5
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# @foxglove/rosmsg
> _ROS1 and ROS2 message definition parser_
[](https://www.npmjs.com/package/@foxglove/rosmsg)
## Introduction
[The Robot Operating System (ROS)](https://www.ros.org/) defines a simplified message description language for describing data types. This library parses those message definitions and can round trip them back into a canonical string format suitable for checksum generation. The parsed definitions are useful for serialization or deserialization when paired with other libraries.
This library supports both [ROS1](http://wiki.ros.org/msg) and [ROS 2](https://docs.ros.org/en/galactic/Concepts/About-ROS-Interfaces.html) message definitions.
## ROS 1 Definition Usage
```Typescript
import { parse, stringify } from "@foxglove/rosmsg";
const definitionStr = `# geometry_msgs/Pose
geometry_msgs/Point position
geometry_msgs/Quaternion orientation
===
MSG: geometry_msgs/Point
float64 x
float64 y
float64 z
===
MSG: geometry_msgs/Quaternion
float64 x
float64 y
float64 z
float64 w`;
const messageDefinition = parse(definitionStr);
// print the parsed message definition structure
console.log(JSON.stringify(messageDefinition, null, 2));
```
Prints:
```JSON
[
{
"definitions": [
{
"type": "geometry_msgs/Point",
"isArray": false,
"name": "position",
"isComplex": true
},
{
"type": "geometry_msgs/Quaternion",
"isArray": false,
"name": "orientation",
"isComplex": true
}
]
},
{
"name": "geometry_msgs/Point",
"definitions": [
{
"type": "float64",
"isArray": false,
"name": "x",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "y",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "z",
"isComplex": false
}
]
},
{
"name": "geometry_msgs/Quaternion",
"definitions": [
{
"type": "float64",
"isArray": false,
"name": "x",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "y",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "z",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "w",
"isComplex": false
}
]
}
]
```
## ROS 2 Definition Usage
```Typescript
import { parse, stringify } from "@foxglove/rosmsg";
const definitionStr = `# geometry_msgs/msg/Pose
geometry_msgs/msg/Point position
geometry_msgs/msg/Quaternion orientation
===
MSG: geometry_msgs/msg/Point
float64 x
float64 y
float64 z
===
MSG: geometry_msgs/msg/Quaternion
float64 x
float64 y
float64 z
float64 w`;
const messageDefinition = parse(definitionStr, {ros2: true});
// stringify(messageDefinition) will return a canonical string, similar to
// _definitionStr_
// print the parsed message definition structure
console.log(JSON.stringify(messageDefinition, null, 2));
```
Prints:
```JSON
[
{
"definitions": [
{
"type": "geometry_msgs/msg/Point",
"isArray": false,
"name": "position",
"isComplex": true
},
{
"type": "geometry_msgs/msg/Quaternion",
"isArray": false,
"name": "orientation",
"isComplex": true
}
]
},
{
"name": "geometry_msgs/msg/Point",
"definitions": [
{
"type": "float64",
"isArray": false,
"name": "x",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "y",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "z",
"isComplex": false
}
]
},
{
"name": "geometry_msgs/msg/Quaternion",
"definitions": [
{
"type": "float64",
"isArray": false,
"name": "x",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "y",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "z",
"isComplex": false
},
{
"type": "float64",
"isArray": false,
"name": "w",
"isComplex": false
}
]
}
]
```
## ROS 2 IDL Support
See (`@foxglove/ros2idl-parser`)[https://github.com/foxglove/omgidl/packages/ros2idl-parser] for our implementation of `ros2idl` schema support.
## License
@foxglove/rosmsg is licensed under the [MIT License](https://opensource.org/licenses/MIT).
## 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
## Stay in touch
Join our [Slack channel](https://foxglove.dev/slack) to ask questions, share feedback, and stay up to date on what our team is working on.