Base Adapter

mosaicolabs.ros_bridge.adapter_base

ROSAdapterBase

Bases: ABC, Generic[T]

Abstract Base Class for converting ROS messages to Mosaico Ontology types.

The Adaptation Layer is the semantic core of the ROS Bridge. Rather than performing simple parsing, adapters actively translate raw ROS data into standardized, strongly-typed Mosaico Ontology objects.

Attributes:

Name	Type	Description
ros_msgtype	str | Tuple[str, ...]	The ROS message type string (e.g., 'sensor_msgs/msg/Imu') or a tuple of supported types.
__mosaico_ontology_type__	Type[T]	The target Mosaico class (e.g., IMU).
_REQUIRED_KEYS	Tuple[str, ...]	Internal validation list for mandatory ROS message fields.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message instance into a Mosaico Message.

Implementation should handle recursive unwrapping, unit conversion, and validation.

Parameters:

Name	Type	Description	Default
ros_msg	ROSMessage	The source container yielded by the ROSLoader.	required
**kwargs	Any	Contextual data such as calibration parameters or frame overrides.	{}

Returns:

Type	Description
Message	A Mosaico Message object containing the instantiated ontology data.

from_dict abstractmethod classmethod

from_dict(ros_data)

Maps the raw ROS dictionary to the EncoderTicks Pydantic model.

This method performs field validation and header reconstruction.

schema_metadata abstractmethod classmethod

schema_metadata(ros_data, **kwargs)

Extracts ROS-specific schema metadata for the Mosaico platform.

This allows preserving original ROS attributes that may not fit directly into the physical ontology fields.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.