ROS 1 message serialization, for reading and writing bags and network messages
npm install @foxglove/rosmsg-serialization> _ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages_
Message reader deserializes ROS messages into plain objects. The messages are fully deserialized.
``typescript
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;
`
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.
`Typescript
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;
`
Convert an object, array, or primitive value into binary data using ROS message serialization.
`Typescript
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
});
`
yarn test
@foxglove/rosmsg-serialization is licensed under the MIT License.
1. Run yarn version --[major|minor|patch] to bump versiongit push && git push --tags
2. Run to push new tag
3. GitHub Actions will take care of the rest
The bench folder contains benchmarks. Run with:
`
yarn bench
yarn bench:benny
To run benchmarks in web:
`
yarn bench:web
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