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    @foxglove/rosbag
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    0.2.3 • Public • Published

    @foxglove/rosbag   npm version

    @foxglove/rosbag is a node.js & browser compatible module for reading rosbag binary data files.

    Installation

    npm install @foxglove/rosbag
    

    or

    yarn add @foxglove/rosbag
    

    Quick start

    The most common way to interact with a rosbag is to read data records for a specific set of topics. The rosbag format encodes type information for topics, and rosbag reads this type information and parses the data records into JavaScript objects and arrays.

    Here is an example of reading messages from a rosbag in node.js:

    import { Bag } from "@foxglove/rosbag";
    import { FileReader } from "@foxglove/rosbag/node";
    
    async function logMessagesFromFooBar() {
      // open a new bag with a speific file reader
      const bag = new Bag(new FileReader("../path/to/ros.bag"));
    
      await bag.open();
    
      for await (const result of bag.messageIterator({ topics: ["/foo", "/bar"] })) {
        // topic is the topic the data record was in
        // in this case it will be either '/foo' or '/bar'
        console.log(result.topic);
    
        // message is the parsed payload
        // this payload will likely differ based on the topic
        console.log(result.message);
      }
    }
    
    logMessagesFromFooBar();

    API

    Bag instance

    class Bag {
      // the time of the earliest message in the bag
      startTime: Time,
    
      // the time of the last message in the bag
      endTime: Time,
    
      // a hash of connection records by their id
      connections: { [number]: Connection },
    
      // an array of ChunkInfos describing the chunks within the bag
      chunkInfos: Array<ChunkInfo>,
    }

    BagOptions

    const options = {
      // decompression callbacks:
      // if your bag is compressed you can supply a callback to decompress it
      // based on the compression type. The callback should accept a buffer of compressed bytes
      // and return a buffer of uncompressed bytes.  For examples on how to decompress lz4 and bz2 compressed bags
      // please see the tests here: https://github.com/cruise-automation/rosbag.js/blob/545529344c8c2a0b3a3126646d065043c2d67d84/src/bag.test.js#L167-L192
      // The decompression callback is also passed the uncompressedByteLength which is stored in the bag.
      // This byte length can be used with some decompression libraries to increase decompression efficiency.
      decompress?: {
        bz2?: (buffer: Uint8Array, uncompressedByteLength: number) => Uint8Array,
        lz4?: (buffer: Uint8Array, uncompressedByteLength: number) => Uint8Array,
      },
    
      // Toggle the message deserialization behavior. By default, messages are deserialized into javascript objects. You can override this behavior by setting this to `false`.
      parse?: boolean;
    }

    Consuming messages from the bag instance

    bag.messageIterator method returns an Async Iterator for messages in the file. Each item is a MessageEvent.

    IteratorOptions

    const options {
      // an optional array of topics used to filter down
      // which data records will be read
      // the default is all records on all topics
      topics?: Array<string>,
    
      // an optional Time instance used to filter data records
      // to only those which start on or after the given start time
      // the default is undefined which will apply no filter
      start?: Time,
    }

    MessageEvent

    const messageEvent {
      // the topic from which the current record was read
      topic: string,
    
      // the receive time of the message
      timestamp: Time
    
      // the raw buffer data from the data record
      // a node.js buffer in node & an array buffer in the browser
      data: Uint8Array,
    
      // the parsed message contents as a JavaScript object
      // this can contain nested complex types
      // and arrays of complex & simple types
      // If parsing is disabled this field is set to `undefined`
      message?: { [string]: unknown },
    }

    Connection

    class Connection {
      // the id of the connection
      conn: number,
    
      // the topic for the connection
      topic: string,
    
      // the md5 hash for the connection message definition
      md5sum: string,
    
      // the rosbag formatted message definition for records on this connection's topic
      messageDefinition: string,
    }

    Stay in touch

    Join our Slack channel to ask questions, share feedback, and stay up to date on what our team is working on.

    Keywords

    none

    Install

    npm i @foxglove/rosbag

    DownloadsWeekly Downloads

    358

    Version

    0.2.3

    License

    Apache-2.0

    Unpacked Size

    445 kB

    Total Files

    249

    Last publish

    Collaborators

    • foxglovebot
    • amacneil