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Bump rosbag2, add message reader options (#16)
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### Changelog
- **[BREAKING]** Now requires Node v22
- **[BREAKING]** `@foxglove/rosbag2` dependency has been bumped to v6.
Time and Duration values are now deserialized as `{sec,nanosec}` rather
than `{sec,nsec}`. The `{sec,nsec}` behavior is still available via a
new `timeType` option.


### Description

- Bump rosbag2 dependency (depends on
foxglove/rosbag2#22)
- Bump version to 5.0.0
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@jtbandes
jtbandes authored Dec 5, 2024
1 parent 3fec088 commit 8c147b9
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Showing 5 changed files with 117 additions and 61 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Expand Up @@ -23,7 +23,7 @@ jobs:
- run: corepack enable
- uses: actions/[email protected]
with:
node-version: 20.x
node-version: 22.x
registry-url: https://registry.npmjs.org
cache: yarn

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10 changes: 5 additions & 5 deletions package.json
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@@ -1,7 +1,7 @@
{
"name": "@foxglove/rosbag2-node",
"version": "4.1.0",
"description": "ROS2 (Robot Operating System) bag reader and writer for node.js",
"version": "5.0.0",
"description": "ROS 2 (Robot Operating System) bag reader and writer for node.js",
"license": "MIT",
"keywords": [
"ros",
Expand Down Expand Up @@ -41,7 +41,7 @@
"test": "jest"
},
"engines": {
"node": ">= 14"
"node": ">= 22"
},
"devDependencies": {
"@foxglove/eslint-plugin": "2.0.0",
Expand All @@ -55,8 +55,8 @@
"typescript": "5.7.2"
},
"dependencies": {
"@foxglove/rosbag2": "^5.0.0",
"better-sqlite3": "^8.1.0"
"@foxglove/rosbag2": "^6.0.0",
"better-sqlite3": "^11.6.0"
},
"packageManager": "[email protected]"
}
48 changes: 46 additions & 2 deletions src/Rosbag2.test.ts
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Expand Up @@ -26,7 +26,7 @@ describe("SqliteNodejs single bag file handling", () => {
if (!seenRosout && msg.topic.name === "/rosout") {
seenRosout = true;
expect(msg.value).toEqual({
stamp: { sec: 1585866235, nsec: 112130688 },
stamp: { sec: 1585866235, nanosec: 112130688 },
level: 20,
name: "minimal_publisher",
msg: "Publishing: 'Hello, world! 0'",
Expand All @@ -44,6 +44,28 @@ describe("SqliteNodejs single bag file handling", () => {
}
});

it("reads messages with sec,nsec time type", async () => {
const bagFilename = path.join(__dirname, "..", "tests", "bags", "talker", "talker.db3");
const bag = await openNodejsFile(bagFilename, { timeType: "sec,nsec" });

for await (const msg of bag.readMessages()) {
if (msg.topic.name !== "/rosout") {
continue;
}
expect(msg.value).toEqual({
stamp: { sec: 1585866235, nsec: 112130688 },
level: 20,
name: "minimal_publisher",
msg: "Publishing: 'Hello, world! 0'",
file: "/opt/ros2_ws/eloquent/src/ros2/examples/rclcpp/minimal_publisher/lambda.cpp",
function: "operator()",
line: 38,
});
expect(msg.data.byteLength).toBe(176);
break;
}
});

it("reads start/end times", async () => {
const bagFilename = path.join(__dirname, "..", "tests", "bags", "talker", "talker.db3");
const bag = await openNodejsFile(bagFilename);
Expand Down Expand Up @@ -96,7 +118,7 @@ describe("SqliteNodejs single bag directory handling", () => {
if (!seenRosout && msg.topic.name === "/rosout") {
seenRosout = true;
expect(msg.value).toEqual({
stamp: { sec: 1585866235, nsec: 112130688 },
stamp: { sec: 1585866235, nanosec: 112130688 },
level: 20,
name: "minimal_publisher",
msg: "Publishing: 'Hello, world! 0'",
Expand All @@ -114,6 +136,28 @@ describe("SqliteNodejs single bag directory handling", () => {
}
});

it("reads messages with sec,nsec time type", async () => {
const bagPath = path.join(__dirname, "..", "tests", "bags", "talker");
const bag = await openNodejsDirectory(bagPath, { timeType: "sec,nsec" });

for await (const msg of bag.readMessages()) {
if (msg.topic.name !== "/rosout") {
continue;
}
expect(msg.value).toEqual({
stamp: { sec: 1585866235, nsec: 112130688 },
level: 20,
name: "minimal_publisher",
msg: "Publishing: 'Hello, world! 0'",
file: "/opt/ros2_ws/eloquent/src/ros2/examples/rclcpp/minimal_publisher/lambda.cpp",
function: "operator()",
line: 38,
});
expect(msg.data.byteLength).toBe(176);
break;
}
});

it("reads start/end times", async () => {
const bagPath = path.join(__dirname, "..", "tests", "bags", "talker");
const bag = await openNodejsDirectory(bagPath);
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15 changes: 11 additions & 4 deletions src/open.ts
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@@ -1,22 +1,29 @@
import { Rosbag2 } from "@foxglove/rosbag2";
import { MessageReaderOptions } from "@foxglove/rosmsg2-serialization";
import { readdir } from "fs/promises";
import path from "path";

import { SqliteNodejs } from "./SqliteNodejs";

export async function openNodejsFile(filename: string): Promise<Rosbag2> {
export async function openNodejsFile(
filename: string,
messageReaderOptions?: MessageReaderOptions,
): Promise<Rosbag2> {
const file = new SqliteNodejs(filename);
const bag = new Rosbag2([file]);
const bag = new Rosbag2([file], messageReaderOptions);
await bag.open();
return bag;
}

export async function openNodejsDirectory(folder: string): Promise<Rosbag2> {
export async function openNodejsDirectory(
folder: string,
messageReaderOptions?: MessageReaderOptions,
): Promise<Rosbag2> {
const filenames = await listFiles(folder, ".");
const entries = filenames
.filter((filename) => filename.toLowerCase().endsWith(".db3"))
.map((filename) => new SqliteNodejs(path.join(folder, filename)));
const bag = new Rosbag2(entries);
const bag = new Rosbag2(entries, messageReaderOptions);
await bag.open();
return bag;
}
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103 changes: 54 additions & 49 deletions yarn.lock
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Expand Up @@ -439,10 +439,10 @@ __metadata:
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Expand All @@ -469,10 +469,17 @@ __metadata:
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Expand All @@ -481,11 +488,11 @@ __metadata:
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prettier: "npm:3.4.2"
Expand All @@ -494,49 +501,47 @@ __metadata:
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Expand All @@ -547,13 +552,13 @@ __metadata:
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Expand Down Expand Up @@ -1603,14 +1608,14 @@ __metadata:
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Expand Down Expand Up @@ -4879,9 +4884,9 @@ __metadata:
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Expand All @@ -4897,7 +4902,7 @@ __metadata:
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