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This library parses those message definitions and can round trip them back into a canonical string format suitable for checksum generation. The parsed definitions are useful for serialization or deserialization when paired with other libraries.\n\nThis library supports both [ROS1](http://wiki.ros.org/msg) and [ROS 2](https://docs.ros.org/en/galactic/Concepts/About-ROS-Interfaces.html) message definitions.\n\n## ROS 1 Definition Usage\n\n```Typescript\nimport { parse, stringify } from \"@foxglove/rosmsg\";\n\nconst definitionStr = `# geometry_msgs/Pose\ngeometry_msgs/Point position\ngeometry_msgs/Quaternion orientation\n\n===\nMSG: geometry_msgs/Point\nfloat64 x\nfloat64 y\nfloat64 z\n\n===\nMSG: geometry_msgs/Quaternion\nfloat64 x\nfloat64 y\nfloat64 z\nfloat64 w`;\n\nconst messageDefinition = parse(definitionStr);\n\n// print the parsed message definition structure\nconsole.log(JSON.stringify(messageDefinition, null, 2));\n```\n\nPrints:\n\n```JSON\n[\n  {\n    \"definitions\": [\n      {\n        \"type\": \"geometry_msgs/Point\",\n        \"isArray\": false,\n        \"name\": \"position\",\n        \"isComplex\": true\n      },\n      {\n        \"type\": \"geometry_msgs/Quaternion\",\n        \"isArray\": false,\n        \"name\": \"orientation\",\n        \"isComplex\": true\n      }\n    ]\n  },\n  {\n    \"name\": \"geometry_msgs/Point\",\n    \"definitions\": [\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"x\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"y\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"z\",\n        \"isComplex\": false\n      }\n    ]\n  },\n  {\n    \"name\": \"geometry_msgs/Quaternion\",\n    \"definitions\": [\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"x\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"y\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"z\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"w\",\n        \"isComplex\": false\n      }\n    ]\n  }\n]\n```\n\n## ROS 2 Definition Usage\n\n```Typescript\nimport { parse, stringify } from \"@foxglove/rosmsg\";\n\nconst definitionStr = `# geometry_msgs/msg/Pose\ngeometry_msgs/msg/Point position\ngeometry_msgs/msg/Quaternion orientation\n\n===\nMSG: geometry_msgs/msg/Point\nfloat64 x\nfloat64 y\nfloat64 z\n\n===\nMSG: geometry_msgs/msg/Quaternion\nfloat64 x\nfloat64 y\nfloat64 z\nfloat64 w`;\n\nconst messageDefinition = parse(definitionStr, {ros2: true});\n\n// stringify(messageDefinition) will return a canonical string, similar to\n// _definitionStr_\n// print the parsed message definition structure\nconsole.log(JSON.stringify(messageDefinition, null, 2));\n```\n\nPrints:\n\n```JSON\n[\n  {\n    \"definitions\": [\n      {\n        \"type\": \"geometry_msgs/msg/Point\",\n        \"isArray\": false,\n        \"name\": \"position\",\n        \"isComplex\": true\n      },\n      {\n        \"type\": \"geometry_msgs/msg/Quaternion\",\n        \"isArray\": false,\n        \"name\": \"orientation\",\n        \"isComplex\": true\n      }\n    ]\n  },\n  {\n    \"name\": \"geometry_msgs/msg/Point\",\n    \"definitions\": [\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"x\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"y\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"z\",\n        \"isComplex\": false\n      }\n    ]\n  },\n  {\n    \"name\": \"geometry_msgs/msg/Quaternion\",\n    \"definitions\": [\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"x\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"y\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"z\",\n        \"isComplex\": false\n      },\n      {\n        \"type\": \"float64\",\n        \"isArray\": false,\n        \"name\": \"w\",\n        \"isComplex\": false\n      }\n    ]\n  }\n]\n```\n\n## ROS 2 IDL Support\n\nSee (`@foxglove/ros2idl-parser`)[https://github.com/foxglove/omgidl/packages/ros2idl-parser] for our implementation of `ros2idl` schema support.\n\n## License\n\n@foxglove/rosmsg is licensed under the [MIT License](https://opensource.org/licenses/MIT).\n\n## Releasing\n\n1. Run `yarn version --[major|minor|patch]` to bump version\n2. Run `git push && git push --tags` to push new tag\n3. GitHub Actions will take care of the rest\n\n## Stay in touch\n\nJoin our [Discord community](https://foxglove.dev/chat) to ask questions, share feedback, and stay up to date on what our team is working on.\n","readmeFilename":"README.md"}