@foxglove/rosmsg (英语)

ROS1 和 ROS2 信件定义解析器

导言

机器人操作系统(ROS) 定义用于描述数据类型的简化消息描述语言。 这个库解析了这些消息定义,并可以环绕它们返回到适合校验和生成的犬形字符串格式. 解析后的定义与其他库对接时,对序列化或去序列化有用.

此库支持两者 罗斯1号 财务报告和审定财务报表 报告2 消息定义.

ROS 1 定义使用法

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));

指纹 :

[
  {
    "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 定义使用法

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));

指纹 :

[
  {
    "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 支助

见(@foxglove/ros2idl-parser[https://github.com/foxglove/omgidl/packages/ros2idl-parser 页面存档备份,存于互联网档案馆执行 ros2idl 计划支持.

许可证

@foxglove/rosmsg 获得许可证 MIT 许可证。 。 。 .

释放

1. 运行 yarn version --[major|minor|patch] 切换到凸起版本
2. 运行 git push && git push --tags 以驱动新标签
3. GitHub 动作会照顾剩下的

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