ROS1 and ROS2 message definition parser
The Robot Operating System (ROS) 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 and ROS 2 message definitions.
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:
[
{
"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
}
]
}
]
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:
[
{
"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
}
]
}
]
See (@foxglove/ros2idl-parser
)[https://github.com/foxglove/omgidl/packages/ros2idl-parser] for our implementation of ros2idl
schema support.
@foxglove/rosmsg is licensed under the MIT License.
- Run
yarn version --[major|minor|patch]
to bump version - Run
git push && git push --tags
to push new tag - GitHub Actions will take care of the rest
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