feat(pj_base): add CameraInfo + OccupancyGridUpdate canonical builtin types#98
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feat(pj_base): add CameraInfo + OccupancyGridUpdate canonical builtin types#98facontidavide wants to merge 6 commits into
facontidavide wants to merge 6 commits into
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… types Closes the two remaining canonical-object gaps for the ROS pipeline: every common ROS 2 message now maps onto a builtin type. Both are wired end-to-end (struct + codec + proto + enum/ABI/typeOf + tests + docs) at enum values 14/15, following the existing owned (FrameTransforms) and byte-backed (OccupancyGrid) templates. - CameraInfo (owned): pinhole calibration K/D/R/P + dimensions, packed-double codec. Mirrors sensor_msgs/CameraInfo; binning/ROI omitted (additive later). Correlated to an image topic by name convention; carries no topic linkage. - OccupancyGridUpdate (byte-backed): incremental sub-rectangle patch for an OccupancyGrid. Deliberately no origin/resolution — a stateful consumer pairs it with the base grid (<base>/costmap_updates <-> <base>/costmap) and places it. Signed int32 cell offsets round-trip via the varint bit pattern. Also dedups a duplicate RobotDescription row in the conversion-examples table. Build 100%; ctest 5/5 (camera_info_codec, occupancy_grid_update_codec, builtin_object, abi_layout_sentinels, occupancy_grid_codec). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Extends the SceneEntities canonical type so it can losslessly represent
visualization_msgs/Marker:
- ModelPrimitive (mesh asset by url or inline data) on SceneEntity — covers
MESH_RESOURCE markers, which previously had no home.
- deletions[] of SceneEntityDeletion{MATCHING_ID, ALL} on SceneEntities — lets
a snapshot producer express the removal half of a stateful stream
(Marker DELETE / DELETEALL) without an empty-entity sentinel.
Both mirror fields in Foxglove's SceneEntity/SceneUpdate that the original port
omitted. Additive only: new struct fields + proto field numbers (models=14,
deletions=2), updated hand-written codec + round-trip tests, docs. No new
BuiltinObjectType, so the C ABI and abi_layout_sentinels are unchanged.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
No consumers exist yet, so renumber freely to match Foxglove's SceneEntity/SceneUpdate 1:1: - SceneEntity: add metadata=6 (new KeyValuePair message) and shift the primitive lists to 7..14 (arrows..models), matching Foxglove exactly. - AxesPrimitive has no Foxglove counterpart; it moves to field 15, after the Foxglove range, as a documented PlotJuggler extension. - SceneEntities: order deletions=1, entities=2 (Foxglove SceneUpdate order). C++ struct member names are unchanged, so producers/consumers that build by name are unaffected; only the wire numbering moves. Codec + round-trip tests updated (metadata coverage added). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Drop the per-occurrence info.D.clear() in the field-6 handler. readPackedDouble appends, so a distortion-coefficient array split across multiple packed chunks (valid protobuf, e.g. after message merge/concatenation) was losing all but the last chunk. Now matches the DepthImage decoder. (Codex review P2.) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
SceneEntity.metadata referenced an inline KeyValuePair message duplicated in SceneEntities.proto, but a canonical pj/KeyValuePair.proto already exists (and is imported by the annotation schemas). Import it instead of redefining, so PJ.KeyValuePair has a single definition. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
A small owned builtin for textual log messages (timestamp, level, message, name), for a log/console panel. Mirrors the core of Foxglove's Log schema and rcl_interfaces/Log; the source-location fields (file, line) are intentionally omitted. Wires kLog=16 through builtin_object_abi.h (C enum), builtin_object.hpp (enum + name/parse/typeOf + include), abi_layout_sentinels + builtin_object tests, and CMake (codec source + round-trip test). New log.hpp / log_codec.* / Log.proto follow the established owned-type pattern; docs + proto README updated. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
Closes the two remaining canonical-object gaps for the ROS → PJ4 pipeline. A full audit of
parser_ros+data_load_mcapshowed every common ROS 2 message maps onto an existing builtin type except these two, which had no home:CameraInfo(kCameraInfo= 14, owned) — pinhole camera calibration (K/D/R/P + dimensions). Needed for camera frustums, depth deprojection, and AR overlays. Mirrorssensor_msgs/CameraInfo; sub-window fields (binning/ROI) intentionally omitted (additive later). Correlated to an image topic by name convention (<ns>/camera_info↔<ns>/image_raw); carries no topic linkage.OccupancyGridUpdate(kOccupancyGridUpdate= 15, byte-backed) — incremental sub-rectangle patch for a previously-publishedOccupancyGrid(map_msgs/OccupancyGridUpdate). Deliberately carries noorigin/resolution: a patch is not independently placeable. A stateful consumer pairs it with the base grid (<base>/costmap_updates↔<base>/costmap) and positions it atorigin + (x, y) * resolution. Keeps the producer stateless/cross-topic-blind; each patch is a self-contained snapshot so it stores/decodes like any other object (no replay at decode time).Both follow the established templates —
CameraInfomirrors the ownedFrameTransforms(packed-double matrices),OccupancyGridUpdatemirrors the byte-backedOccupancyGrid(Span+BufferAnchor).Changes
.protocontracts, and round-trip tests for both types.BuiltinObjectType(C++) +PJ_builtin_object_type_t(C ABI),name()/parseBuiltinObjectType()/typeOf(),abi_layout_sentinels_test,builtin_object_test,pj_base/CMakeLists.txt.docs/builtin_type.md+proto/pj/README.mdupdated; deduped a pre-existing duplicateRobotDescriptionrow in the conversion-examples table.Implementation notes
OccupancyGridUpdate::x/yare signedint32cell offsets, encoded as plain varints by round-tripping the 32-bit pattern (full int32 range preserved; pinned byNegativeOffsetsRoundTrip).parser_ros) and consumers (PJ4 renderers / gridmap surface-stack) are deferred follow-ups. Adding a builtin type is ABI-additive and forward-compatible (std::any; unknown types →kNone).Verification
ctest: 5/5 pass —camera_info_codec_test,occupancy_grid_update_codec_test,builtin_object_test,abi_layout_sentinels_test,occupancy_grid_codec_test.🤖 Generated with Claude Code