feat(parser_ros): emit OccupancyGrid + OccupancyGridUpdate#119
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Add catalog entries for nav_msgs/OccupancyGrid (-> kOccupancyGrid) and map_msgs/OccupancyGridUpdate (-> kOccupancyGridUpdate), plus parseObject handlers mirroring parsePointCloud: read CDR little-endian, build a zero-copy ObjectRecord{BuiltinObject{...}} whose data span slices the payload (anchor keeps it alive), with width*height validation and embedded-timestamp handling.
Builds against plotjuggler_core 0.5.0; the existing 33 parser tests pass. ABI-level object-route unit tests await a ParserObjectWriteRecorder test helper not yet present in the repo.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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…Update Port the one unique producer from #119 (feat/occupancy-grid-parser): the incremental delta-patch counterpart to OccupancyGrid (e.g. costmap_updates). map_msgs/OccupancyGridUpdate -> kOccupancyGridUpdate, dual datastore+object route: x/y/width/height stay plottable while the large data[] patch is discarded by parseScalarsDiscardingLargeArrays. Byte-backed zero-copy cells (span pinned by the payload anchor) with a width*height bounds check. kOccupancyGridUpdate is available in core 0.5.x (builtin type id 15). #119's OccupancyGrid half is redundant with this branch and is dropped; its readPose/readF64 helpers were only needed there, so they are not ported. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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…Update Port the one unique producer from #119 (feat/occupancy-grid-parser): the incremental delta-patch counterpart to OccupancyGrid (e.g. costmap_updates). map_msgs/OccupancyGridUpdate -> kOccupancyGridUpdate, dual datastore+object route: x/y/width/height stay plottable while the large data[] patch is discarded by parseScalarsDiscardingLargeArrays. Byte-backed zero-copy cells (span pinned by the payload anchor) with a width*height bounds check. kOccupancyGridUpdate is available in core 0.5.x (builtin type id 15). #119's OccupancyGrid half is redundant with this branch and is dropped; its readPose/readF64 helpers were only needed there, so they are not ported. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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…Marker→SceneEntities producers (#122) * feat(parser_ros): emit FrameTransforms object for tf2_msgs/TFMessage 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> * feat(parser_ros): add OccupancyGrid, TransformStamped, RobotDescription 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> * refactor(parser_ros): OccupancyGrid + RobotDescription object-only; match 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> * feat(parser_ros): visualization_msgs/Marker(Array) -> SceneEntities 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> * feat(parser_ros,data_load_mcap): object-route timestamps, OccupancyGrid ingest fix, MCAP latched-stamp clamp parser_ros: object producers (FrameTransforms, TransformStamped, OccupancyGrid, RobotDescription, Marker, MarkerArray) now return ObjectRecord, threading the parser-controlled embedded timestamp (use_embedded_timestamp_) through the object route instead of returning a bare BuiltinObject. parser_ros: nav_msgs/OccupancyGrid keeps its parse_scalars route (parseScalarsDiscardingLargeArrays). An object-only entry (no parse_scalars) aborts the message push before the object route runs, so the scalar handler is required for the grid to reach the ObjectStore; metadata stays plottable while the large data[] array is discarded. data_load_mcap: clamp header (publishTime) stamps that fall outside the recording's log-time window to its first timestamp. Latched / long-running publishers (static TF, robot_description, pre-computed maps) would otherwise drag the playback range off the actual recording. useMcapLogTime() still forces the message's own logTime. * feat(parser_ros): emit OccupancyGridUpdate for map_msgs/OccupancyGridUpdate Port the one unique producer from #119 (feat/occupancy-grid-parser): the incremental delta-patch counterpart to OccupancyGrid (e.g. costmap_updates). map_msgs/OccupancyGridUpdate -> kOccupancyGridUpdate, dual datastore+object route: x/y/width/height stay plottable while the large data[] patch is discarded by parseScalarsDiscardingLargeArrays. Byte-backed zero-copy cells (span pinned by the payload anchor) with a width*height bounds check. kOccupancyGridUpdate is available in core 0.5.x (builtin type id 15). #119's OccupancyGrid half is redundant with this branch and is dropped; its readPose/readF64 helpers were only needed there, so they are not ported. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * fix(parser_ros): silence nodiscard deserializer warnings * Fix parser_ros object RTTI on macOS --------- Co-authored-by: Davide Faconti <dfaconti@aurynrobotics.com> Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com> Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
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Emits the canonical 3D-scene grid objects from the ROS parser:
nav_msgs/OccupancyGrid→sdk::OccupancyGrid(kOccupancyGrid)map_msgs/OccupancyGridUpdate→sdk::OccupancyGridUpdate(kOccupancyGridUpdate)Two entries in
RosParser::catalog()+ twoparseObjecthandlers inros_builtin_object_handlers.cpp, mirroringparsePointCloud: read CDRlittle-endian, build a zero-copy
ObjectRecord{BuiltinObject{…}}whosedataspanslices the payload (the
anchorkeeps it alive), withwidth*heightvalidationand embedded-timestamp handling. Adds the
readPose/readU8/readF64helpersused by the grid handler.
This is the producer half of the PJ4
pj_scene3Doccupancy-grid feature (theconsumer —
OccupancyGridEntity+ a stateful reconstructor + textured-quad renderpass — lives in the PJ4 repo).
Verification
origin/main; builds againstplotjuggler_core/0.5.0.main'srosx_introspection(uses thecommon
DeserializerAPI), so it does not need the IDL/3.0.0 refactor.sdkfields) are afollow-up: the repo has no
ParserObjectWriteRecorderharness yet.🤖 Generated with Claude Code