sensor_msgs

mosaicolabs.ros_bridge.adapters.sensor_msgs

CameraInfoAdapter

Bases: ROSAdapterBase[CameraInfo]

Adapter for translating ROS CameraInfo messages to Mosaico CameraInfo.

Supported ROS Types:

• sensor_msgs/msg/CameraInfo

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/camera_info",
    msg_type="sensor_msgs/msg/CameraInfo",
    data=
    {
        "height": 480,
        "width": 640,
        "binning_x": 1,
        "binning_y": 1,
        "roi": {
            "x_offset": 0,
            "y_offset": 0,
            "height": 480,
            "width": 640,
            "do_rectify": False,
        },
        "distortion_model": "plumb_bob",
        "d": [0.0, 0.0, 0.0, 0.0, 0.0],
        "k": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
        "p": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
        "r": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
    }
)
# Automatically resolves to a flat Mosaico CameraInfo with attached metadata
mosaico_camera_info = CameraInfoAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a CameraInfo object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "height": 480,
    "width": 640,
    "binning_x": 1,
    "binning_y": 1,
    "roi": {
        "x_offset": 0,
        "y_offset": 0,
        "height": 480,
        "width": 640,
        "do_rectify": False,
    },
    "distortion_model": "plumb_bob",
    "d": [0.0, 0.0, 0.0, 0.0, 0.0],
    "k": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
    "p": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "r": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
}
# Automatically resolves to a flat Mosaico CameraInfo with attached metadata
mosaico_camera_info = CameraInfoAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
CameraInfo	CameraInfo	The constructed Mosaico CameraInfo object.

Raises:

Type	Description
ValueError	If the recursive 'roi' key exists but is not a dict, or if required keys are missing.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

NavSatStatusAdapter

Bases: ROSAdapterBase[GPSStatus]

Adapter for translating ROS NavSatStatus messages to Mosaico GPSStatus.

Supported ROS Types:

• sensor_msgs/msg/NavSatFix

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/gps_status",
    msg_type="sensor_msgs/msg/NavSatFix",
    data=
    {
        "status": 0,
        "service": 1,
    }
)
# Automatically resolves to a flat Mosaico GPSStatus with attached metadata
mosaico_gps_status = NavSatStatusAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a GPSStatus object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "status": 0,
    "service": 1,
}
# Automatically resolves to a flat Mosaico GPSStatus with attached metadata
mosaico_gps_status = NavSatStatusAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
GPSStatus	GPSStatus	The constructed Mosaico GPSStatus object.

Raises:

Type	Description
ValueError	If the recursive 'roi' key exists but is not a dict, or if required keys are missing.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

GPSAdapter

Bases: ROSAdapterBase[GPS]

Adapter for translating ROS NavSatFix messages to Mosaico GPS.

Supported ROS Types:

• sensor_msgs/msg/NavSatFix

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/gps",
    msg_type="sensor_msgs/msg/NavSatFix",
    data=
    {
        "latitude": 45.5,
        "longitude": -122.5,
        "altitude": 100.0,
        "status": {
            "status": 0,
            "service": 1,
        },
    }
)
# Automatically resolves to a flat Mosaico GPS with attached metadata
mosaico_gps = GPSAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a GPS object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "latitude": 45.5,
    "longitude": -122.5,
    "altitude": 100.0,
    "status": {
        "status": 0,
        "service": 1,
    },
}
# Automatically resolves to a flat Mosaico GPS with attached metadata
mosaico_gps = GPSAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
GPS	GPS	The constructed Mosaico GPS object.

Raises:

Type	Description
ValueError	If the recursive 'roi' key exists but is not a dict, or if required keys are missing.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

IMUAdapter

Bases: ROSAdapterBase[IMU]

Adapter for translating ROS Imu messages to Mosaico IMU.

Supported ROS Types:

• sensor_msgs/msg/Imu

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/imu",
    msg_type="sensor_msgs/msg/Imu",
    data=
    {
        "linear_acceleration": {"x": 0.0, "y": 0.0, "z": 0.0},
        "angular_velocity": {"x": 0.0, "y": 0.0, "z": 0.0},
        "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
        "orientation_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
        "linear_acceleration_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
        "angular_velocity_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
        "header": {"seq": 0, "stamp": {"sec": 0, "nanosec": 0}, "frame_id": "robot_link"},
    }
)
# Automatically resolves to a flat Mosaico IMU with attached metadata
mosaico_imu = IMUAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a IMU object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "linear_acceleration": {"x": 0.0, "y": 0.0, "z": 0.0},
    "angular_velocity": {"x": 0.0, "y": 0.0, "z": 0.0},
    "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
    "orientation_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "linear_acceleration_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "angular_velocity_covariance": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    "header": {"seq": 0, "stamp": {"sec": 0, "nanosec": 0}, "frame_id": "robot_link"},
}
# Automatically resolves to a flat Mosaico IMU with attached metadata
mosaico_imu = IMUAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
IMU	IMU	The constructed Mosaico IMU object.

Raises:

Type	Description
ValueError	If the recursive 'roi' key exists but is not a dict, or if required keys are missing.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

NMEASentenceAdapter

Bases: ROSAdapterBase[NMEASentence]

Adapter for translating ROS NMEASentence messages to Mosaico NMEASentence.

Supported ROS Types:

• nmea_msgs/msg/Sentence

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/gps/fix",
    msg_type="sensor_msgs/msg/GPSFix",
    data=
    {
        "sentence": "GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47",
    }
)
# Automatically resolves to a flat Mosaico GPS with attached metadata
mosaico_gps = NMEASentenceAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a NMEASenetence object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "sentence": "GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47",
}
# Automatically resolves to a flat Mosaico NMEASentence with attached metadata
mosaico_nmea_sentence = NMEASentenceAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
NMEASentence	NMEASentence	The constructed Mosaico NMEASentence object.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

ImageAdapter

Bases: ROSAdapterBase[Image]

Adapter for translating ROS Image messages to Mosaico Image.

Supported ROS Types:

• sensor_msgs/msg/Image

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/image",
    msg_type="sensor_msgs/msg/Image",
    data=
    {
        "data": [...],
        "width": 1,
        "height": 1,
        "step": 4,
        "encoding": "bgr8",
    }
)
# Automatically resolves to a flat Mosaico Image with attached metadata
mosaico_image = ImageAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a Image object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data, **kwargs)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "data": [...],
    "width": 1,
    "height": 1,
    "step": 4,
    "encoding": "bgr8",
}
# Automatically resolves to a flat Mosaico Image with attached metadata
mosaico_image = ImageAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
Image	Image	The constructed Mosaico Image object.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

CompressedImageAdapter

Bases: ROSAdapterBase[CompressedImage]

Adapter for translating ROS CompressedImage messages to Mosaico CompressedImage.

Supported ROS Types:

• sensor_msgs/msg/CompressedImage

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/compressed_image",
    msg_type="sensor_msgs/msg/CompressedImage",
    data=
    {
        "data": [...],
        "format": "jpeg",
    }
)
# Automatically resolves to a flat Mosaico CompressedImage with attached metadata
mosaico_compressed_image = CompressedImageAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a CompressedImage object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "data": [...],
    "format": "jpeg",
}
# Automatically resolves to a flat Mosaico CompressedImage with attached metadata
mosaico_compressed_image = CompressedImageAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
CompressedImage	CompressedImage	The constructed Mosaico CompressedImage object.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

ROIAdapter

Bases: ROSAdapterBase[ROI]

Adapter for translating ROS RegionOfInterest messages to Mosaico ROI.

Supported ROS Types:

• sensor_msgs/RegionOfInterest

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/roi",
    msg_type="sensor_msgs/RegionOfInterest",
    data=
    {
        "height": 1,
        "width": 1,
        "x_offset": 0,
        "y_offset": 0,
    }
)
# Automatically resolves to a flat Mosaico ROI with attached metadata
mosaico_roi = ROIAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a ROI object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "height": 1,
    "width": 1,
    "x_offset": 0,
    "y_offset": 0,
}
# Automatically resolves to a flat Mosaico ROI with attached metadata
mosaico_roi = ROIAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
ROI	ROI	The constructed Mosaico ROI object.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

BatteryStateAdapter

Bases: ROSAdapterBase[BatteryState]

Adapter for translating ROS BatteryState messages to Mosaico BatteryState.

Supported ROS Types:

• sensor_msgs/msg/BatteryState

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/battery_state",
    msg_type="sensor_msgs/msg/BatteryState",
    data=
    {
        "voltage": 12.6,
        "capacity": 100,
        "cell_temperature": 25,
        "cell_voltage": [12.6],
        "location": "battery",
        "charge": 100,
        "current": 0,
        "design_capacity": 100,
        "location": "battery",
        "percentage": 100,
        "power_supply_health": "good",
        "power_supply_status": "charging",
        "power_supply_technology": "li-ion",
        "present": True,
        "serial_number": "1234567890",
        "temperature": 25,
    }
)
# Automatically resolves to a flat Mosaico BatteryState with attached metadata
mosaico_battery_state = BatteryStateAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a BatteryState object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data=
{
    "voltage": 12.6,
    "capacity": 100,
    "cell_temperature": 25,
    "cell_voltage": [12.6],
    "location": "battery",
    "charge": 100,
    "current": 0,
    "design_capacity": 100,
    "location": "battery",
    "percentage": 100,
    "power_supply_health": "good",
    "power_supply_status": "charging",
    "power_supply_technology": "li-ion",
    "present": True,
    "serial_number": "1234567890",
    "temperature": 25,
}
# Automatically resolves to a flat Mosaico BatteryState with attached metadata
mosaico_battery_state = BatteryStateAdapter.from_dict(ros_data)

Parameters:

Name	Type	Description	Default
ros_data	dict	The raw dictionary from the ROS message.	required

Returns:

Name	Type	Description
BatteryState	BatteryState	The constructed Mosaico BatteryState object.

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.

RobotJointAdapter

Bases: ROSAdapterBase[RobotJoint]

Adapter for translating ROS JointState messages to Mosaico RobotJoint.

Supported ROS Types:

• sensor_msgs/msg/JointState

Example

ros_msg = ROSMessage(
    timestamp=17000,
    topic="/joint_states",
    msg_type="sensor_msgs/msg/JointState",
    data={
        "header": {
            "stamp": {
                "sec": 17000,
                "nanosec": 0,
            },
            "frame_id": "",
        },
        "name": ["joint1", "joint2"],
        "position": [0.0, 0.0],
        "velocity": [0.0, 0.0],
        "effort": [0.0, 0.0],
    },
)
# Automatically resolves to a flat Mosaico RobotJoint with attached metadata
mosaico_robot_joint = RobotJointAdapter.translate(ros_msg)

translate classmethod

translate(ros_msg, **kwargs)

Translates a ROS message into a Mosaico Message.

Returns:

Name	Type	Description
Message	Message	The translated message containing a RobotJoint object.

Raises:

Type	Description
Exception	Wraps any translation error with context (topic name, timestamp).

from_dict classmethod

from_dict(ros_data)

Converts the raw dictionary data into the specific Mosaico type.

Example

ros_data={
    "header": {
        "stamp": {
            "sec": 17000,
            "nanosec": 0,
        },
        "frame_id": "",
    },
    "name": ["joint1", "joint2"],
    "position": [0.0, 0.0],
    "velocity": [0.0, 0.0],
    "effort": [0.0, 0.0],
}
# Automatically resolves to a flat Mosaico RobotJoint with attached metadata
mosaico_robot_joint = RobotJointAdapter.from_dict(ros_data)

schema_metadata classmethod

schema_metadata(ros_data, **kwargs)

Extract the ROS message specific schema metadata, if any.

ros_msg_type abstractmethod classmethod

ros_msg_type()

Returns the specific ROS message type handled by this adapter.

ontology_data_type classmethod

ontology_data_type()

Returns the Ontology class type associated with this adapter.