@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

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:

[
  {
    "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
      }
    ]
  }
]