ROS 2 message serialization, for reading and writing bags and network messages
npm install @foxglove/rosmsg2-serialization> _ROS 2 (Robot Operating System) message serialization, for reading and writing bags and network messages_
Message reader deserializes ROS 2 CDR messages into plain objects. The messages are fully deserialized.
``typescript
import { MessageReader } from "@foxglove/rosmsg2-serialization";
// message definition comes from parse() in @foxglove/rosmsg
const reader = new MessageReader(messageDefinition);
// specify a different timeType for time objects compatible with ROS 1 and @foxglove/rostime
const reader = new MessageReader(messageDefinition, { timeType: "sec,nsec" });
// deserialize a buffer into an object
const message = reader.readMessage([0x00, 0x01, ...]);
// access message fields
message.header.stamp;
`
Convert an object, array, or primitive value into binary data using ROS 2 CDR message serialization.
`Typescript
import { MessageWriter } from "@foxglove/rosmsg2-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: {
stamp: { sec: 0, nanosec: 0 },
frame_id: ""
},
x: 1,
y: 0,
z: 0
});
`
yarn test
@foxglove/rosmsg2-serialization is licensed under the MIT License.
1. Run yarn version --[major|minor|patch] to bump versiongit push && git push --tags` to push new tag
2. Run
3. GitHub Actions will take care of the rest
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