@lichtblick/ros2idl-parser

> _ROS 2 .idl message definition parser_


Introduction

The Robot Operating System (ROS) defines a supported subset of OMG IDL 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.

Usage

``Typescript
import { parseRos2idl } from "@lichtblick/ros2idl-parser";

const ros2idlDefinitionStr =
================================================================================
IDL: geometry_msgs/msg/Pose

module geometry_msgs {
module msg {
struct Pose {
geometry_msgs::msg::Point position;
geometry_msgs::msg::Quaternion orientation;
};
};
};

================================================================================
IDL: geometry_msgs/msg/Point

module geometry_msgs {
module msg {
struct Point {
double x;
double y;
double z;
};
};
};

================================================================================
IDL: geometry_msgs/msg/Quaternion

module geometry_msgs {
module msg {
struct Quaternion {
double x;
double y;
double z;
double w;
};
};
};
;

const messageDefinition = parseRos2idl(ros2idlDefinitionStr);

// 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
}
]
}
]
``