Add reflection based support for deserializing ROS2 MCAP (#11367)

Author: oxkitsune

ARCHITECTURE.md

@@ -98,11 +98,11 @@ Of course, this will only take us so far. In the future we plan on caching queri
 Here is an overview of the crates included in the project:
 
 <picture>
-  <img src="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/full.png" alt="">
-  <source media="(max-width: 480px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/480w.png">
-  <source media="(max-width: 768px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/768w.png">
-  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/1024w.png">
-  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/crates/c4945bdef6cdcf99bf37a05480d19be23bfd2b7f/1200w.png">
+  <img src="https://static.rerun.io/crates/61660a3e8357cd6261f329c8fe15d5c5a1c6f087/full.png" alt="">
+  <source media="(max-width: 480px)" srcset="https://static.rerun.io/crates/61660a3e8357cd6261f329c8fe15d5c5a1c6f087/480w.png">
+  <source media="(max-width: 768px)" srcset="https://static.rerun.io/crates/61660a3e8357cd6261f329c8fe15d5c5a1c6f087/768w.png">
+  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/crates/61660a3e8357cd6261f329c8fe15d5c5a1c6f087/1024w.png">
+  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/crates/61660a3e8357cd6261f329c8fe15d5c5a1c6f087/1200w.png">
 </picture>
 
 <!-- !!! IMPORTANT!!!
@@ -120,20 +120,20 @@ Update instructions:
 
 ### SDK/CLI/Wasm top-level crates
 
-| Crate                | Description                          |
-|----------------------|--------------------------------------|
-| rerun-cli            | Rerun native CLI binary crate        |
-| Rerun                | Rerun Rust SDK and Viewer shim crate |
-| rerun_c              | Rerun C SDK                          |
-| rerun_py             | Rerun Python SDK                     |
-| re_sdk               | Rerun logging SDK                    |
+| Crate     | Description                          |
+| --------- | ------------------------------------ |
+| rerun-cli | Rerun native CLI binary crate        |
+| Rerun     | Rerun Rust SDK and Viewer shim crate |
+| rerun_c   | Rerun C SDK                          |
+| rerun_py  | Rerun Python SDK                     |
+| re_sdk    | Rerun logging SDK                    |
 
 ### Viewer crates
 
 ##### UI crates
 
 | Crate                 | Description                                                                                                |
-|-----------------------|------------------------------------------------------------------------------------------------------------|
+| --------------------- | ---------------------------------------------------------------------------------------------------------- |
 | re_arrow_ui           | Show arrow data in a tree of rerun list_items and format arrow with syntax highlighting.                   |
 | re_blueprint_tree     | The UI for the blueprint tree in the left panel.                                                           |
 | re_redap_browser      | The UI and communication to implement the in-viewer redap server browser.                                  |
@@ -159,20 +159,20 @@ Update instructions:
 
 ##### UI support crates
 
-| Crate                  | Description                                                          |
-|------------------------|----------------------------------------------------------------------|
-| re_context_menu        | Support crate for context menu and actions.                          |
-| re_data_ui             | Provides UI elements for Rerun component data for the Rerun Viewer.  |
-| re_renderer            | A wgpu-based renderer for all your visualization needs.              |
-| re_renderer_examples   | Examples for re_renderer                                             |
-| re_ui                  | Rerun GUI theme and helpers, built around egui                       |
-| re_viewer_context      | Rerun Viewer state that is shared with the viewer's code components. |
-| re_viewport_blueprint  | The data model description of the viewport panel.                    |
+| Crate                 | Description                                                          |
+| --------------------- | -------------------------------------------------------------------- |
+| re_context_menu       | Support crate for context menu and actions.                          |
+| re_data_ui            | Provides UI elements for Rerun component data for the Rerun Viewer.  |
+| re_renderer           | A wgpu-based renderer for all your visualization needs.              |
+| re_renderer_examples  | Examples for re_renderer                                             |
+| re_ui                 | Rerun GUI theme and helpers, built around egui                       |
+| re_viewer_context     | Rerun Viewer state that is shared with the viewer's code components. |
+| re_viewport_blueprint | The data model description of the viewport panel.                    |
 
 ### Application-level store
 
 | Crate           | Description                                                     |
-|-----------------|-----------------------------------------------------------------|
+| --------------- | --------------------------------------------------------------- |
 | re_dataframe    | The Rerun public data APIs.                                     |
 | re_datafusion   | DataFusion interfaces to Rerun gRPC queries                     |
 | re_entity_db    | In-memory storage of Rerun entities                             |
@@ -186,7 +186,7 @@ Update instructions:
 ### Low-level store
 
 | Crate           | Description                                                                                   |
-|-----------------|-----------------------------------------------------------------------------------------------|
+| --------------- | --------------------------------------------------------------------------------------------- |
 | re_chunk        | A chunk of Rerun data, encoded using Arrow. Used for logging, transport, storage and compute. |
 | re_chunk_store  | An in-memory time series database for Rerun log data, based on Apache Arrow.                  |
 | re_format_arrow | Formatting of Apache Arrow tables.                                                            |
@@ -197,7 +197,7 @@ Update instructions:
 ### Data flow
 
 | Crate                | Description                                                       |
-|----------------------|-------------------------------------------------------------------|
+| -------------------- | ----------------------------------------------------------------- |
 | re_redap_client      | Official client for the Rerun Data Protocol                       |
 | re_data_loader       | Handles loading of Rerun data from file using data loader plugins |
 | re_data_source       | Handles loading of Rerun data from different sources              |
@@ -208,7 +208,7 @@ Update instructions:
 ### Build support
 
 | Crate             | Description                                                      |
-|-------------------|------------------------------------------------------------------|
+| ----------------- | ---------------------------------------------------------------- |
 | re_build_info     | Information about the build. Use together with re_build_tools    |
 | re_build_tools    | build.rs helpers for generating build info                       |
 | re_dev_tools      | Various tools for Rerun development. Each tool has a subcommand. |
@@ -218,7 +218,7 @@ Update instructions:
 ### Utilities
 
 | Crate              | Description                                                                          |
-|--------------------|--------------------------------------------------------------------------------------|
+| ------------------ | ------------------------------------------------------------------------------------ |
 | re_analytics       | Rerun's analytics SDK                                                                |
 | re_arrow_util      | Helpers for working with arrow                                                       |
 | re_auth            | Authentication and authorization helpers                                             |
@@ -233,6 +233,7 @@ Update instructions:
 | re_mcap            | Convert MCAP into Rerun-compatible data.                                             |
 | re_memory          | Run-time memory tracking and profiling.                                              |
 | re_perf_telemetry  | In and out of process performance profiling utilities for Rerun & Redap              |
+| re_ros_msg         | Parsing and deserializing ROS   messages                                             |
 | re_smart_channel   | A channel that keeps track of latency and queue length.                              |
 | re_span            | An integer range that always has a non-negative length                               |
 | re_string_interner | Yet another string interning library                                                 |
@@ -243,10 +244,10 @@ Update instructions:
 
 ### Test crates
 
-| Crate              | Description                                                   |
-|--------------------|---------------------------------------------------------------|
-| re_test_context    | Provides a test context that builds on `re_viewer_context.    |
-| re_test_viewport   | Extends the `re_test_context` with viewport-related features. |
+| Crate            | Description                                                   |
+| ---------------- | ------------------------------------------------------------- |
+| re_test_context  | Provides a test context that builds on `re_viewer_context.    |
+| re_test_viewport | Extends the `re_test_context` with viewport-related features. |
 
 ### Dependencies and docs
 

Cargo.lock

@@ -9001,6 +9001,7 @@ dependencies = [
  "re_chunk",
  "re_log",
  "re_log_types",
+ "re_ros_msg",
  "re_tracing",
  "re_types",
  "serde",
@@ -9313,6 +9314,15 @@ dependencies = [
  "winit",
 ]
 
+[[package]]
+name = "re_ros_msg"
+version = "0.26.0-alpha.1+dev"
+dependencies = [
+ "anyhow",
+ "serde",
+ "thiserror 1.0.69",
+]
+
 [[package]]
 name = "re_sdk"
 version = "0.26.0-alpha.1+dev"

Cargo.toml

@@ -106,6 +106,7 @@ re_log = { path = "crates/utils/re_log", version = "=0.26.0-alpha.1", default-fe
 re_mcap = { path = "crates/utils/re_mcap", version = "=0.26.0-alpha.1", default-features = false }
 re_memory = { path = "crates/utils/re_memory", version = "=0.26.0-alpha.1", default-features = false }
 re_perf_telemetry = { path = "crates/utils/re_perf_telemetry", version = "=0.26.0-alpha.1", default-features = false }
+re_ros_msg = { path = "crates/utils/re_ros_msg", version = "=0.26.0-alpha.1", default-features = false }
 re_smart_channel = { path = "crates/utils/re_smart_channel", version = "=0.26.0-alpha.1", default-features = false }
 re_span = { path = "crates/utils/re_span", version = "=0.26.0-alpha.1", default-features = false }
 re_string_interner = { path = "crates/utils/re_string_interner", version = "=0.26.0-alpha.1", default-features = false }

crates/store/re_data_loader/tests/snapshots/test_mcap_loader__tests__ros2.snap

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a85ec291c84c9dc8a2632b99e0ec6ebb2773a2a8e6c2c85f65290974c89db5a
-size 443136
+oid sha256:b1a4ac6fa84a2a951884291e6e4ea971186c23dd6369b4f4d0538b030ed0b77a
+size 449123

crates/utils/re_mcap/Cargo.toml

@@ -18,6 +18,7 @@ workspace = true
 re_chunk.workspace = true
 re_log.workspace = true
 re_log_types.workspace = true
+re_ros_msg.workspace = true
 re_tracing.workspace = true
 re_types = { workspace = true, features = ["ecolor", "glam", "image", "video"] }
 

crates/utils/re_mcap/src/layers/mod.rs

@@ -2,6 +2,7 @@ mod protobuf;
 mod raw;
 mod recording_info;
 mod ros2;
+mod ros2_reflection;
 mod schema;
 mod stats;
 
@@ -10,7 +11,8 @@ use std::collections::{BTreeMap, BTreeSet};
 
 pub use self::{
     protobuf::McapProtobufLayer, raw::McapRawLayer, recording_info::McapRecordingInfoLayer,
-    ros2::McapRos2Layer, schema::McapSchemaLayer, stats::McapStatisticLayer,
+    ros2::McapRos2Layer, ros2_reflection::McapRos2ReflectionLayer, schema::McapSchemaLayer,
+    stats::McapStatisticLayer,
 };
 
 use crate::{
@@ -324,6 +326,7 @@ impl LayerRegistry {
             .register_file_layer::<McapStatisticLayer>()
             // message layers (priority order):
             .register_message_layer::<McapRos2Layer>()
+            .register_message_layer::<McapRos2ReflectionLayer>()
             .register_message_layer::<McapProtobufLayer>();
 
         if raw_fallback_enabled {

crates/utils/re_mcap/src/layers/raw.rs

@@ -26,6 +26,7 @@ impl MessageParser for RawMcapMessageParser {
         msg: &::mcap::Message<'_>,
     ) -> anyhow::Result<()> {
         re_tracing::profile_function!();
+
         self.data.values().values().append_slice(&msg.data);
         self.data.values().append(true);
         self.data.append(true);

crates/utils/re_mcap/src/layers/ros2.rs

@@ -1,9 +1,9 @@
 use std::collections::BTreeMap;
 
 use super::MessageLayer;
-use crate::{
-    parsers::MessageParser,
-    parsers::ros2msg::{
+use crate::parsers::{
+    MessageParser,
+    ros2msg::{
         Ros2MessageParser,
         rcl_interfaces::LogMessageParser,
         sensor_msgs::{
@@ -114,6 +114,7 @@ impl MessageLayer for McapRos2Layer {
                 "Message schema {:?} is currently not supported",
                 schema.name
             );
+
             None
         }
     }