valgur / rosx_introspection

Deserialize any ROS message, without compilation time information.

ROS X Introspection

Unified successor of the following libraries:

• ros_type_introspection
• ros_msg_parser
• ros2_introspection

The library compiles either using:

• ROS1 (catkin),
• ROS2 (colcon/ament) or
• without any ROS dependency (vanilla cmake).

To parse any ROS message at runtime, it requires:

• The name of the type (for instance "sensors_msgs/JointState")
• The definition of the type (for instance this one),
• The raw memory buffer to be deserialized into individual key/values pairs.

The raw memory buffer is usually obtained by:

• rosbag::MessageInstance and Topic::ShapeShifter in ROS1.
• GenericSubscriber or rosbag2_storage::SerializedBagMessage on ROS2.
• MCAP.