feat(parser_ros): object producers for FrameTransforms, OccupancyGrid, TransformStamped, RobotDescription#100
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tf2_msgs/TFMessage now produces BOTH a canonical sdk::FrameTransforms object (objectstore — for the 3D scene's per-dataset TF buffer) AND its existing flattened scalar fields (datastore — for plotting transforms as time series). This is dual registration in the schema catalog: object_type + parse_object added alongside the existing parse_scalars, the same pattern Image/PointCloud2 already use. parseFrameTransforms decodes the CDR TFMessage into one FrameTransform per TransformStamped, each carrying its OWN Header.stamp — the per-sample time the TF buffer needs for zero-order-hold scrub lookups — independent of the message receive time. Test: TFMessageProducesFrameTransformsObject verifies classifySchema reports kFrameTransforms and that parseObject decodes a 2-transform message with the correct per-transform timestamps, parent/child frames, translation, and rotation. 29/29 parser_ros tests pass against plotjuggler_core 0.3.1. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…on producers Extends the dual datastore+objectstore producer set with three more unambiguous, self-contained canonical types (all present in core 0.3.1): - nav_msgs/OccupancyGrid -> kOccupancyGrid: byte-backed, cells zero-copied as a Span over the payload; dual-registered with discard-large-array scalars. - geometry_msgs/TransformStamped -> kFrameTransforms: single-element, sharing the new readStampedTransform helper with the TFMessage producer. - std_msgs/String on a robot_description topic -> kRobotDescription, with a best-effort urdf/sdf/mjcf format hint sniffed from the root element. Topic-gated in bindSchema (a generic String stays a scalar), resolving the dispatch ambiguity by topic name. Deferred (ambiguous / stateful, or not in 0.3.1): Markers (type switch + action/lifetime/identity), DepthImage (encoding dispatch + CameraInfo), CameraInfo / OccupancyGridUpdate. Tests: object-route decode for each, plus a negative test that a String on a non-robot_description topic is NOT classified as RobotDescription. 33/33 parser_ros tests pass against plotjuggler_core 0.3.1. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…atch namespaced robot_description
Routing per design: only TFMessage and TransformStamped are dual
datastore+objectstore (their transforms are useful plotted as time series).
OccupancyGrid and RobotDescription are object-store only — a map/costmap and a
URDF/SDF/MJCF document aren't useful as scalar columns — so their parse_scalars
is dropped (SchemaHandler permits a null scalar route).
robot_description topic-gating already matched namespace-prefixed topics via
ends_with("/robot_description"); make that explicit in the comment and cover it
with a test for "/my_robot/robot_description" (which also exercises the SDF
format sniff).
34/34 parser_ros tests pass against plotjuggler_core 0.3.1.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Per-message, stateless conversion of Marker / MarkerArray into the canonical sdk::SceneEntities object (one SceneEntity per ADD/MODIFY marker, one SceneEntityDeletion per DELETE/DELETEALL). Decoders in a new ros_marker_handlers.cpp; catalog + bindSchema wiring; tests; MARKER_NOTES.md captures the design. - Type map: CUBE/SPHERE/CYLINDER/LINE_*/TRIANGLE_LIST/TEXT_VIEW_FACING -> matching primitives; MESH_RESOURCE -> ModelPrimitive; CUBE_LIST/SPHERE_LIST expand to N primitives; POINTS/ARROW_STRIP skipped (no canonical mapping). - (ns,id) -> length-prefixed entity id; lifetime/frame_locked carried through; ColorRGBA float->uint8; per-vertex colors only when sized to the points. - Positional CDR decode with a bindSchema sniff (uv_coordinates / mesh_file) so the humble+ texture/mesh_file tail is consumed correctly on every distro, keeping MarkerArray elements aligned. Statefulness (accumulation, lifetime expiry) is intentionally left to a future 3D scene consumer, not the parser; see MARKER_NOTES.md. Requires the SceneEntities ModelPrimitive + deletions[] additions in plotjuggler_core. Parser-side groundwork: no kSceneEntities renderer exists yet, so this is exercised by unit tests only (not yet built in this environment due to an unrelated plugin-dependency build issue). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Superseded by #122 — that branch is the rebased continuation of this work. #122's producer commits ( |
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Summary
Adds canonical-object production to parser_ros for the ROS message types that map unambiguously and self-containedly to a builtin object available in core 0.3.1. Previously parser_ros produced only
kImageandkPointCloud; these were the remaining clean cases, and they unblock the PJ4 3D scene (TF buffer, gridmaps, robot model).tf2_msgs/TFMessagekFrameTransformsFrameTransformperTransformStamped, each with its ownHeader.stampgeometry_msgs/TransformStampedkFrameTransformsnav_msgs/OccupancyGridkOccupancyGridstd_msgs/Stringon arobot_descriptiontopickRobotDescription<ns>/robot_description)Store routing: only the TF producers are dual-stored — TF transforms are commonly plotted as time series and needed as objects for the 3D buffer. The map and the robot model are object-only (
SchemaHandlerpermits a null scalar route).Design notes
Header.stamp(the per-sample time the TF buffer needs for zero-order-hold scrub lookups), independent of message receive time.int8[]cells as aSpanover the payload (pinned by the anchor), likePointCloud2.std_msgs/Stringstays a scalar; onlyrobot_descriptionor any namespaced<ns>/robot_descriptionproduces aRobotDescription. Resolves the dispatch ambiguity by topic name (the catalog keys on type name, which can't distinguish it). Tests cover the plain topic, a namespaced topic, and a negative (non-robot String → no object).readStampedTransform()helper between the TFMessage and TransformStamped producers.Deferred (intentionally)
Ambiguous / stateful, or type not in 0.3.1: Markers (
typeswitch +action/lifetime/(ns,id)identity — a stateful accumulation stream, like OccupancyGridUpdate), DepthImage (encoding-dispatch + needs CameraInfo), CameraInfo / OccupancyGridUpdate (land in core via plotjuggler_core#98, not yet released).Verification
Clean build against
plotjuggler_core0.3.1; 34/34 parser_ros tests pass (object-route decode for each new type, namespaced robot_description, + a negative RobotDescription test).🤖 Generated with Claude Code