Add reflection based support for deserializing ROS2 MCAP #11367
Conversation
oxkitsune
added
📺 re_viewer
|
Web viewer built successfully.
Note: This comment is updated whenever you push a commit. |
oxkitsune
force-pushed
the
gijs/ros2-parser
branch
from
02b8ef4 to
c568ddd
Compare
|
Is this the right "spec" for ROS2? (do we care about ROS1) https://docs.ros.org/en/kilted/Concepts/Basic/About-Interfaces.html#interfaces |
oxkitsune
force-pushed
the
gijs/ros2-parser
branch
from
a8ace95 to
4ef2fc6
Compare
This implements the spec for ROS2 .msg messages, which is only slightly different from the ROS1 message spec. Adding support for ROS1 in the future is trivial with this in place. This does not implement parsing of ROS2 .idl message definitions |
| | 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 | |
There was a problem hiding this comment.
Looks like we still need to update the Architecture figma (see component above table).
| if let Some(field_value) = message_fields.get(&spec_field.name) { | ||
| append_value(field_builder, field_value, schema)?; | ||
| } else { | ||
| //TODO(gijsd): Field is missing in the message, append null |
|
|
||
| // For nested messages, we need to find the matching specification from dependencies | ||
| // Since we don't have type information here, we'll try to match by field names | ||
| let matching_spec = find_matching_message_spec(schema, message_fields); |
There was a problem hiding this comment.
This is quadratic over the number of dependencies. append_value is called a lot, does it make sense to cache / precompute all specs when creating the parser? append_value could then take a &self?
What
Adds support for dynamically deserializing ROS2 MCAP messages into arrow data.
This is done by parsing the ROS2 message definition and using the type definition to deserialize the CDR-encoded data into arrow types.
TODO: