parse("bool A=False", { ros2: true }) should produce

{
  definitions: [
    {
      name: "A",
      type: "bool",
      isConstant: true,
      value: false,
      valueText: "False",
    }
  ]
}

Instead, it produces a valueText of "0".

Description
When parsing multiple types with the same name, such as visualization_msgs/Marker and aruco_msgs/Marker, the library mixes them up when they are used as children of another type.

• Version: 4.2.2 (I tested with several versions from 1.0.1 to 4.2.2 and the bug seems to be present in all of them)
• Platform: Linux, ROS noetic (but this probably hits ROS2 too)

Steps To Reproduce

  let res = parse(`

MSG: visualization_msgs/Marker
int32 a

===
MSG: aruco_msgs/Marker
int32 b

===
MSG: visualization_msgs/MarkerArray
Marker[] a

===
MSG: aruco_msgs/MarkerArray
Marker[] b
  
  `, { ros2: false })

  console.log(JSON.stringify(res, undefined, 2));

Expected Behavior
aruco_msgs/MarkerArray should contain an array of aruco_msgs/Marker, not visualization_msgs/Marker.

[
  {
    "name": "visualization_msgs/Marker",
    "definitions": [
      {
        "type": "int32",
        "isArray": false,
        "name": "a",
        "isComplex": false
      }
    ]
  },
  {
    "name": "aruco_msgs/Marker",
    "definitions": [
      {
        "type": "int32",
        "isArray": false,
        "name": "b",
        "isComplex": false
      }
    ]
  },
  {
    "name": "visualization_msgs/MarkerArray",
    "definitions": [
      {
        "type": "visualization_msgs/Marker",
        "isArray": true,
        "name": "a",
        "isComplex": true
      }
    ]
  },
  {
    "name": "aruco_msgs/MarkerArray",
    "definitions": [
      {
        "type": "aruco_msgs/Marker",
        "isArray": true,
        "name": "b",
        "isComplex": true
      }
    ]
  }
]

Actual behavior
Both MarkerArray types contain an array of visualization_msgs/Marker.

[
  {
    "name": "visualization_msgs/Marker",
    "definitions": [
      {
        "type": "int32",
        "isArray": false,
        "name": "a",
        "isComplex": false
      }
    ]
  },
  {
    "name": "aruco_msgs/Marker",
    "definitions": [
      {
        "type": "int32",
        "isArray": false,
        "name": "b",
        "isComplex": false
      }
    ]
  },
  {
    "name": "visualization_msgs/MarkerArray",
    "definitions": [
      {
        "type": "visualization_msgs/Marker",
        "isArray": true,
        "name": "a",
        "isComplex": true
      }
    ]
  },
  {
    "name": "aruco_msgs/MarkerArray",
    "definitions": [
      {
        "type": "visualization_msgs/Marker",
        "isArray": true,
        "name": "b",
        "isComplex": true
      }
    ]
  }
]

IDL is the "base" message schema format for ROS2, and it's possible that a user may produce an IDL schema for a message without first defining a .msg schema first.

I think the best approach for this would be to define a function that translates an IDL schema into a RosMsgField[], extending the set of supported types in RosMsgField as necessary.

There is already a lark grammar for parsing the ROS2 subset of IDL available here, which is nice because it gives us a clear subset of the full IDL spec to support.

Description
Instead of geometry_msgs/msg/Pose, I believe it should be geometry_msgs/Pose, i.e., removing the additional msg/ in the middle.

const definitionStr = `# geometry_msgs/Pose
geometry_msgs/Point position
geometry_msgs/Quaternion orientation

===
MSG: geometry_msgs/Point
float64 x
float64 y
float64 z

===
MSG: geometry_msgs/Quaternion
float64 x
float64 y
float64 z
float64 w`;

Otherwise it will return:

webpack://@foxglove/rosmsg/./node_modules/nearley/lib/nearley.js:295
                var err = new Error(this.reportLexerError(e));
^
Error: invalid syntax at line 1 col 18:

  geometry_msgs/msg/Point position
                   ^
Unexpected input (lexer error). Instead, I was expecting to see one of the following:

A "[" based on:
    arrayType →  ● "[" _ "]"
    main → _ customType ● arrayType __ field _ main$ebnf$6 complex
A "[" based on:
    arrayType →  ● "[" _ number _ "]"
    main → _ customType ● arrayType __ field _ main$ebnf$6 complex
A space token based on:
    _$subexpression$1 →  ● %space
    _ →  ● _$subexpression$1
    arrayType →  ● _
    main → _ customType ● arrayType __ field _ main$ebnf$6 complex
A space token based on:
    __ →  ● %space
    main → _ customType arrayType ● __ field _ main$ebnf$6 complex

    at Parser.feed (webpack://@foxglove/rosmsg/./node_modules/nearley/lib/nearley.js:295:1)
    at webpack://@foxglove/rosmsg/./src/parse.ts:114:12
    at Array.forEach (<anonymous>)
    at buildType (webpack://@foxglove/rosmsg/./src/parse.ts:106:9)
    at webpack://@foxglove/rosmsg/./src/parse.ts:68:13
    at Array.forEach (<anonymous>)
    at parse (webpack://@foxglove/rosmsg/./src/parse.ts:57:12)
    at Object.<anonymous> (/home/shouheng/Development/repos/experiments/rosmsg.ts:22:32)
    at Module._compile (node:internal/modules/cjs/loader:1254:14)
    at Module.m._compile (/usr/lib/node_modules/ts-node/src/index.ts:1618:23) {
  offset: 1,
  token: undefined
}

• Version:
• Platform:

Steps To Reproduce

Expected Behavior

Hello hello,

I'm looking at a way of generating typescript types for messages/services using .msg, .srv or .idl files. I'm not very familiar with ros or rosapi but I'm super impressed & excited by the tooling ya'll at foxglove have been created so I thought I'd raise it here.

What I was thinking was a CLI tool where you configure:

• Output directory, eg) generated
• rosbridge_suite rosapi endpoint eg) ws://localhost:9090

You would then call a CLI function eg) ros-ts-type generate -o ./generated -e ws://localhost:9090
This would:

• Talk to the ros_api and get the interface of all messages and services (I'm not familiar with rosapi)
• Convert each of these msg and srv interfaces to a typescript interface
• Output these interfaces to the ./generated folder.

Does this workflow make sense?
What are the challenges in implementing such a thing?
Does foxglove have any other tooling which will help in acheiving this?

The parse() function only works on "full" message definitions, the type produced by gendeps --cat that include multiple message definitions separated by ======== lines and the MSG: prefix for non-root types. This library should also support parsing message definitions in the format ROS message definition libraries commonly store them on disk, with one type per file. An additional function to fix up type names after loading all the relevant definitions from disk is probably needed as well.

Description

Sorry to bother you with this. I think we need simple documentation for people to run gendeps2 locally, especially for people like me who come from a C++/python background and know nothing about JavaScript/TypeScript.

• Version: Current main branch 1b9df73
• Platform: macOS Sonoma 14.2.1

Steps To Reproduce
Just want to use gendeps2 to generate similar files that are recorded at https://github.com/foxglove/rosmsg-msgs-common/tree/main

I have zero experience with JavaScript/TypeScript and related things. I did everything by quickly googling around. But apparently, I messed up some simple things. The following is what I did.

cd <a random place>
git clone https://github.com/foxglove/rosmsg.git
cd rosmsg
npm run build
cd ../
npm install ./rosmsg

After the above operations, I have gendeps2 available locally in my terminal. But when I do

gendeps2

I got the following error

node:internal/modules/cjs/loader:1146
  throw err;
  ^

Error: Cannot find module '../dist/gendeps2'
Require stack:
- /Users/yaoyuh/Projects/foxglove_packages/rosmsg/bin/gendeps2
    at Module._resolveFilename (node:internal/modules/cjs/loader:1143:15)
    at Module._load (node:internal/modules/cjs/loader:984:27)
    at Module.require (node:internal/modules/cjs/loader:1234:19)
    at require (node:internal/modules/helpers:176:18)
    at Object.<anonymous> (/Users/yaoyuh/Projects/foxglove_packages/rosmsg/bin/gendeps2:2:1)
    at Module._compile (node:internal/modules/cjs/loader:1375:14)
    at Module._extensions..js (node:internal/modules/cjs/loader:1434:10)
    at Module.load (node:internal/modules/cjs/loader:1206:32)
    at Module._load (node:internal/modules/cjs/loader:1022:12)
    at Function.executeUserEntryPoint [as runMain] (node:internal/modules/run_main:142:12) {
  code: 'MODULE_NOT_FOUND',
  requireStack: [ '/Users/yaoyuh/Projects/foxglove_packages/rosmsg/bin/gendeps2' ]
}

I checked the source folder and there is a dist folder with the content of

buildRos2Type.d.ts
buildRos2Type.d.ts.map
gendeps2.d.ts
gendeps2.d.ts.map
index.d.ts
index.d.ts.map
index.js
index.js.map
md5.d.ts
md5.d.ts.map
parse.d.ts
parse.d.ts.map
stringify.d.ts
stringify.d.ts.map

Expected Behavior

I think I have done something stupid but I cannot tell by myself. However, what I'm expecting to see is the terminal complains like

"Usage: gendeps <msgdefs-dir> <msg-file>"

as designed at

My final goal is to use gendeps2 to generate .msg files that look like those recorded in foxglove/rosmsg-msgs-common, where a single .msg file contains all the content of its dependent messages.

Thank you!

This chart is only really meaningful in context with time spent elsewhere, but I wanted to zoom in far enough to show that a significant portion of Foxglove Studio's 3D rendering loop is spent on the CPU accessing lazy message fields. This may be the same issue as https://githubmemory.com/repo/ChainSafe/ssz/issues/187