Translations between Protobuf and ROS message definitions
Project description
proto_ros
This project provides utilities for the translation between Protocol Buffers message definitions (proto files) and ROS message definitions (msg files).
proto2msg
The proto2msg
script translates Protobuf (proto) files into equivalent ROS Message (msg) files.
Usage:
proto2msg <proto_dir> <msg_dir> (--recursive)
For each proto file in proto_dir equivalent msg files are created in msg_dir.
To translate a single protofile use the following command:
Usage: protoc --proto_path=<proto_dir> --msg_out=<msg_dir> <file.proto>
Limitations
- proto3 syntax
- enums are translated to constants
- No support for 'oneof' and 'any' types
- No support for extensions
- No support for options
- No support for service
The Protobuf Compiler (protoc
) parses the proto file and provides it packed in a CodeGeneratorRequest to the protoc_gen_msg
plugin (via stdin). This plugin generates a set of ROS message definition (msg) files from the parsed proto file. It returns the generated msg files packed in a CodeGeneratorResponse (via stdout) to the compiler.
msg2proto
The msg2proto
script translates ROS message (msg) files into Protobuf (proto) files.
Usage:
msg2proto <msg_dir> <proto_dir> (--package <packagename>)
For each msg file in msg_dir an equivalent proto file is created in proto_dir.
Limitations:
- proto3 syntax
- no support for default values (defaults are skipped)
- constants are translated to comments
- no support for string and array bounds (both treated as unbounded)
We defined a Parsing Expression Grammar for ROS messages and use Parsimonious for the actual parsing.
Installation
Install protoc
, the Protobuf compiler:
sudo apt install protobuf-compiler
Install our proto_ros
package from PyPi:
pip install proto_ros
Or install it from GitHub:
pip install "git+https://github.com/dortmans/proto_ros.git"
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