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override_msgs Adapters

mosaicolabs.ros_bridge.adapters.override_msgs

LidarAdapter

Bases: PointCloudAdapterBase[Lidar]

Adapter for translating ROS PointCloud2 messages to Mosaico Lidar. This Adapter needs to be specified in the field adapters_override of RosInjectionConfig.

Supported ROS Types:

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 Lidar object.

Raises:

Type Description
Exception

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

from_dict classmethod 

from_dict(ros_data)

Create a Lidar instance from a ROS message dictionary.

Example: 

ros_data = {
    "height": 1,
    "width": 3,
    "fields": [...],
    "is_bigendian": False,
    "point_step": 16,
    "row_step": 48,
    "data": [...],
    "is_dense": True,
}
# Automatically resolves to a flat Mosaico Lidar with attached data
mosaico_lidar = LidarAdapter.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.

decode classmethod 

decode(ros_data)

Deserialize the binary buffer of a ROS sensor_msgs/msg/PointCloud2 message into named field arrays.

Parameters:

Name Type Description Default
ros_data dict

Raw ROS message payload. Relevant keys: data, height, width, fields, is_bigendian, point_step.

 required

Returns:

Type Description
dict[str, list]

Dictionary mapping each field name to a list of decoded values. Returns empty lists for all fields if height * width == 0.

Raises:

Type Description
ValueError

If a field exposes an unsupported datatype.

RadarAdapter

Bases: PointCloudAdapterBase[Radar]

Adapter for translating ROS PointCloud2 messages to Mosaico Radar. This Adapter needs to be specified in the field adapters_override of RosInjectionConfig.

Supported ROS Types:

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 Radar object.

Raises:

Type Description
Exception

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

from_dict classmethod 

from_dict(ros_data)

Create a Radar instance from a ROS message dictionary. Example: 

ros_data = {
    "height": 1,
    "width": 3,
    "fields": [...],
    "is_bigendian": False,
    "point_step": 16,
    "row_step": 48,
    "data": [...],
    "is_dense": True,
}
# Automatically resolves to a flat Mosaico Radar with attached data
mosaico_radar = RadarAdapter.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.

decode classmethod 

decode(ros_data)

Deserialize the binary buffer of a ROS sensor_msgs/msg/PointCloud2 message into named field arrays.

Parameters:

Name Type Description Default
ros_data dict

Raw ROS message payload. Relevant keys: data, height, width, fields, is_bigendian, point_step.

 required

Returns:

Type Description
dict[str, list]

Dictionary mapping each field name to a list of decoded values. Returns empty lists for all fields if height * width == 0.

Raises:

Type Description
ValueError

If a field exposes an unsupported datatype.

RGBDCameraAdapter

Bases: PointCloudAdapterBase[RGBDCamera]

Adapter for translating ROS PointCloud2 messages to Mosaico RGBDCamera. This Adapter needs to be specified in the field adapters_override of RosInjectionConfig.

Supported ROS Types:

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 RGBDCamera object.

Raises:

Type Description
Exception

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

from_dict classmethod 

from_dict(ros_data)

Create a RGBDCamera instance from a ROS message dictionary.

Example: 

ros_data = {
    "height": 1,
    "width": 3,
    "fields": [...],
    "is_bigendian": False,
    "point_step": 16,
    "row_step": 48,
    "data": [...],
    "is_dense": True,
}
# Automatically resolves to a flat Mosaico RGBDCamera with attached data
mosaico_rgbd_camera = RGBDCameraAdapter.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.

decode classmethod 

decode(ros_data)

Deserialize the binary buffer of a ROS sensor_msgs/msg/PointCloud2 message into named field arrays.

Parameters:

Name Type Description Default
ros_data dict

Raw ROS message payload. Relevant keys: data, height, width, fields, is_bigendian, point_step.

 required

Returns:

Type Description
dict[str, list]

Dictionary mapping each field name to a list of decoded values. Returns empty lists for all fields if height * width == 0.

Raises:

Type Description
ValueError

If a field exposes an unsupported datatype.

ToFCameraAdapter

Bases: PointCloudAdapterBase[ToFCamera]

Adapter for translating ROS PointCloud2 messages to Mosaico ToFCamera. This Adapter needs to be specified in the field adapters_override of RosInjectionConfig.

Supported ROS Types:

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 ToFCamera object.

Raises:

Type Description
Exception

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

from_dict classmethod 

from_dict(ros_data)

Create a ToFCamera instance from a ROS message dictionary.

Example: 

ros_data = {
    "height": 1,
    "width": 3,
    "fields": [...],
    "is_bigendian": False,
    "point_step": 16,
    "row_step": 48,
    "data": [...],
    "is_dense": True,
}
# Automatically resolves to a flat Mosaico ToFCamera with attached data
mosaico_tof_camera = ToFCameraAdapter.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.

decode classmethod 

decode(ros_data)

Deserialize the binary buffer of a ROS sensor_msgs/msg/PointCloud2 message into named field arrays.

Parameters:

Name Type Description Default
ros_data dict

Raw ROS message payload. Relevant keys: data, height, width, fields, is_bigendian, point_step.

 required

Returns:

Type Description
dict[str, list]

Dictionary mapping each field name to a list of decoded values. Returns empty lists for all fields if height * width == 0.

Raises:

Type Description
ValueError

If a field exposes an unsupported datatype.

StereoCameraAdapter

Bases: PointCloudAdapterBase[StereoCamera]

Adapter for translating ROS PointCloud2 messages to Mosaico StereoCamera. This Adapter needs to be specified in the field adapters_override of RosInjectionConfig.

Supported ROS Types:

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 StereoCamera object.

Raises:

Type Description
Exception

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

from_dict classmethod 

from_dict(ros_data)

Create a StereoCamera instance from a ROS message dictionary.

Example: 

ros_data = {
    "height": 1,
    "width": 3,
    "fields": [...],
    "is_bigendian": False,
    "point_step": 16,
    "row_step": 48,
    "data": [...],
    "is_dense": True,
}
# Automatically resolves to a flat Mosaico StereoCamera with attached data
mosaico_stereo_camera = StereoCameraAdapter.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.

decode classmethod 

decode(ros_data)

Deserialize the binary buffer of a ROS sensor_msgs/msg/PointCloud2 message into named field arrays.

Parameters:

Name Type Description Default
ros_data dict

Raw ROS message payload. Relevant keys: data, height, width, fields, is_bigendian, point_step.

 required

Returns:

Type Description
dict[str, list]

Dictionary mapping each field name to a list of decoded values. Returns empty lists for all fields if height * width == 0.

Raises:

Type Description
ValueError

If a field exposes an unsupported datatype.