ROS Message Converter

Utility for loading and tracking message types and definitions from RosLibJs or Ros Bags and converting binary-form messages to js objects.

Use

Converting messages manually.

const ros = new ROSLIB.ROS( { ... } );
const converter = new RosMsgConverter();
await converter.initFromRos( ros );

const topic = new ROSLIB.Topic( {
    ros: ros,
    name: '/tf',
    type: converter.getTopicType( '/tf' ),
    compression: 'cbor-raw',
} );
topic.subscribe( function( raw ) {

    const msg = converter.convertFromTopic( this.name, raw.data );
    // data!

} );

Or using a "SmartTopic" that infers the message type, uses cbor-raw compression, and autoconverts the content.

const topic = new SmartTopic( {
    ros: ros,
    converter: converter,
    name: '/tf'
} );
topic.subscribe( msg => {

    // data!

} );

RosMsgConverter

Class for tracking ROS Topic, types, and definitions and converting binary "cbor-raw" representations to javascript objects.

ready

ready : Boolean

Boolean indicating whether or not the instance has been initialized and ready to use.

types

types : Object

A map of topic name to the name of the type.

initFromRos

initFromRos( handle : ROSLIB.ROS ) : void

Initialializes the types asynchronously using a ROSLIB.ROS instance by fetching the topics and raw message definitions message.

initFromBags

initFromBags( handles : ...Bag ) : void

Takes a list of initialized rosbag package "Bag" instances to initializes the class with.

hasType

hasType( type : string ) : Boolean

Returns whether the converter can handle the given type.

convertFromType

convertFromType( type : string, data : ArrayBuffer ) : Object

Converts the binary data to a javascript object using the reader of the given type.

convertFromTopic

convertFromTopic( topic : string, data : ArrayBuffer ) : Object

Converts the binary data to a javascript object using the reader of the type of the given topic.

getTopicType

getTopicType( topic : string ) : string

Returns the type associated with the given topic.

SmartTopic

An extension of the ROSLIB.Topic that takes a RosMsgConverter in the options (as the "converter" option), uses "cbor-raw" compression by default, converts the result using the provided converter, and infers the topic type based on the topic name.

extends Topic

options

options : null