How to use @xviz/ros - 7 common examples

tape('ROSBag#populated rosConfig results in empty topicMessageTypes ', async t => {
  const config = new ROSConfig({
    topicConfig: [
      {
        topic: '/foo',
        type: 'foo_msg/Foo'
      },
      {
        topic: '/bar',
        type: 'bar_msg/Bar'
      }
    ]
  });
  const bag = new TestBag(null, config, {bagData});
  const r2x = new ROS2XVIZConverter(TestConverters, config, {
    logger: {verbose: m => console.log(m)}
  });

  const result = await bag.init(r2x);

  t.equals(result, true, 'Bag was correctly inited');
  t.equals(bag.bagContext.start_time, 1000, 'Bag startTime was correctly inited');
  t.equals(bag.bagContext.end_time, 1010, 'Bag was correctly inited');

  // Ensure we iterate /tf and /tf_static
  t.deepEquals(
    Object.keys(bag.bagContext.frameIdToPoseMap).sort(),
    ['base_link', 'static_link'],
    'Bag frameIdToPoseMap keys are correctly inited'
  );

async init() {
    try {
      // TODO test what happens when bagPath is not a bag
      this.bag = new Bag(this.bagPath, '/current_pose');
      this.metadata = await this.bag.init();
    } catch (err) {
      console.log(err);
    }
  }

async init() {
    try {
      // TODO test what happens when bagPath is not a bag
      this.bag = new Bag(this.bagPath, '/current_pose');
      this.metadata = await this.bag.init();
    } catch (err) {
      console.log(err);
    }
  }

export function setupCustomProvider(options) {
  // Setup ROS support based on arguments
  //
  // Custom Converters should be added here
  const ros2xvizFactory = new ROS2XVIZFactory([
    GeometryPoseStamped,
    NavPath,
    LidarConverter,
    SensorCompressedImage,
    SensorImage,
    VisualizationMarkerArray
  ]);

  const {rosConfig} = options;
  let config = null;
  if (rosConfig) {
    // topicConfig: { keyTopic, topics }
    // mapping: [ { topic, name, config: {xvizStream, field} }, ... ]
    const data = fs.readFileSync(rosConfig);
    if (data) {
      config = JSON.parse(data);

tape('ROSBag#getMetadata', async t => {
  const config = new ROSConfig();
  const bag = new TestBag(null, config, {bagData});
  const r2x = new ROS2XVIZConverter(TestConverters, config);

  const result = await bag.init(r2x);
  t.equals(result, true, 'Bag was correctly inited');

  const builder = new XVIZMetadataBuilder();
  bag.getMetadata(builder, r2x);
  const metadata = builder.getMetadata();
  t.ok(metadata.streams['/foo'], 'Metadata has "/foo" defined');
  t.ok(metadata.streams['/bar'], 'Metadata has "/bar" defined');

  t.end();
});

tape('ROSBag#readMessages w/no rosConfig has all topics', async t => {
  const config = new ROSConfig();
  const bag = new TestBag(null, config, {bagData});
  const r2x = new ROS2XVIZConverter(TestConverters, config);

  const result = await bag.init(r2x);
  t.equals(result, true, 'Bag was correctly inited');

  const frame = await bag.readMessages();
  t.equals(Object.keys(frame).length, 4, 'frame has 4 keys');
  t.ok(frame['/foo'], 'readMessages returned "/foo"');
  t.ok(frame['/bar'], 'readMessages returned "/bar"');
  t.ok(frame['/tf'], 'readMessages returned "/tf"');
  t.ok(frame['/tf_static'], 'readMessages returned "/tf_static"');

  t.end();
});

tape('ROSBag#readMessages w/ rosConfig has limited topics', async t => {
  const config = new ROSConfig({
    topicConfig: [
      {
        topic: '/foo',
        type: 'foo_msg/Foo'
      },
      {
        topic: '/bar',
        type: 'bar_msg/Bar'
      }
    ]
  });
  const bag = new TestBag(null, config, {bagData});
  const r2x = new ROS2XVIZConverter(TestConverters, config);

  const result = await bag.init(r2x);
  t.equals(result, true, 'Bag was correctly inited');