Bump rosbag2, add message reader options

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ jobs:
       - run: corepack enable
       - uses: actions/[email protected]
         with:
-          node-version: 20.x
+          node-version: 22.x
           registry-url: https://registry.npmjs.org
           cache: yarn
 

package.json

@@ -1,7 +1,7 @@
 {
   "name": "@foxglove/rosbag2-node",
-  "version": "4.1.0",
-  "description": "ROS2 (Robot Operating System) bag reader and writer for node.js",
+  "version": "5.0.0",
+  "description": "ROS 2 (Robot Operating System) bag reader and writer for node.js",
   "license": "MIT",
   "keywords": [
     "ros",
@@ -41,7 +41,7 @@
     "test": "jest"
   },
   "engines": {
-    "node": ">= 14"
+    "node": ">= 22"
   },
   "devDependencies": {
     "@foxglove/eslint-plugin": "2.0.0",
@@ -55,8 +55,8 @@
     "typescript": "5.7.2"
   },
   "dependencies": {
-    "@foxglove/rosbag2": "^5.0.0",
-    "better-sqlite3": "^8.1.0"
+    "@foxglove/rosbag2": "^6.0.0",
+    "better-sqlite3": "^11.6.0"
   },
   "packageManager": "[email protected]"
 }

src/Rosbag2.test.ts

@@ -26,7 +26,7 @@ describe("SqliteNodejs single bag file handling", () => {
       if (!seenRosout && msg.topic.name === "/rosout") {
         seenRosout = true;
         expect(msg.value).toEqual({
-          stamp: { sec: 1585866235, nsec: 112130688 },
+          stamp: { sec: 1585866235, nanosec: 112130688 },
           level: 20,
           name: "minimal_publisher",
           msg: "Publishing: 'Hello, world! 0'",
@@ -44,6 +44,28 @@ describe("SqliteNodejs single bag file handling", () => {
     }
   });
 
+  it("reads messages with sec,nsec time type", async () => {
+    const bagFilename = path.join(__dirname, "..", "tests", "bags", "talker", "talker.db3");
+    const bag = await openNodejsFile(bagFilename, { timeType: "sec,nsec" });
+
+    for await (const msg of bag.readMessages()) {
+      if (msg.topic.name !== "/rosout") {
+        continue;
+      }
+      expect(msg.value).toEqual({
+        stamp: { sec: 1585866235, nsec: 112130688 },
+        level: 20,
+        name: "minimal_publisher",
+        msg: "Publishing: 'Hello, world! 0'",
+        file: "/opt/ros2_ws/eloquent/src/ros2/examples/rclcpp/minimal_publisher/lambda.cpp",
+        function: "operator()",
+        line: 38,
+      });
+      expect(msg.data.byteLength).toBe(176);
+      break;
+    }
+  });
+
   it("reads start/end times", async () => {
     const bagFilename = path.join(__dirname, "..", "tests", "bags", "talker", "talker.db3");
     const bag = await openNodejsFile(bagFilename);
@@ -96,7 +118,7 @@ describe("SqliteNodejs single bag directory handling", () => {
       if (!seenRosout && msg.topic.name === "/rosout") {
         seenRosout = true;
         expect(msg.value).toEqual({
-          stamp: { sec: 1585866235, nsec: 112130688 },
+          stamp: { sec: 1585866235, nanosec: 112130688 },
           level: 20,
           name: "minimal_publisher",
           msg: "Publishing: 'Hello, world! 0'",
@@ -114,6 +136,28 @@ describe("SqliteNodejs single bag directory handling", () => {
     }
   });
 
+  it("reads messages with sec,nsec time type", async () => {
+    const bagPath = path.join(__dirname, "..", "tests", "bags", "talker");
+    const bag = await openNodejsDirectory(bagPath, { timeType: "sec,nsec" });
+
+    for await (const msg of bag.readMessages()) {
+      if (msg.topic.name !== "/rosout") {
+        continue;
+      }
+      expect(msg.value).toEqual({
+        stamp: { sec: 1585866235, nsec: 112130688 },
+        level: 20,
+        name: "minimal_publisher",
+        msg: "Publishing: 'Hello, world! 0'",
+        file: "/opt/ros2_ws/eloquent/src/ros2/examples/rclcpp/minimal_publisher/lambda.cpp",
+        function: "operator()",
+        line: 38,
+      });
+      expect(msg.data.byteLength).toBe(176);
+      break;
+    }
+  });
+
   it("reads start/end times", async () => {
     const bagPath = path.join(__dirname, "..", "tests", "bags", "talker");
     const bag = await openNodejsDirectory(bagPath);

src/open.ts

@@ -1,22 +1,29 @@
 import { Rosbag2 } from "@foxglove/rosbag2";
+import { MessageReaderOptions } from "@foxglove/rosmsg2-serialization";
 import { readdir } from "fs/promises";
 import path from "path";
 
 import { SqliteNodejs } from "./SqliteNodejs";
 
-export async function openNodejsFile(filename: string): Promise<Rosbag2> {
+export async function openNodejsFile(
+  filename: string,
+  messageReaderOptions?: MessageReaderOptions,
+): Promise<Rosbag2> {
   const file = new SqliteNodejs(filename);
-  const bag = new Rosbag2([file]);
+  const bag = new Rosbag2([file], messageReaderOptions);
   await bag.open();
   return bag;
 }
 
-export async function openNodejsDirectory(folder: string): Promise<Rosbag2> {
+export async function openNodejsDirectory(
+  folder: string,
+  messageReaderOptions?: MessageReaderOptions,
+): Promise<Rosbag2> {
   const filenames = await listFiles(folder, ".");
   const entries = filenames
     .filter((filename) => filename.toLowerCase().endsWith(".db3"))
     .map((filename) => new SqliteNodejs(path.join(folder, filename)));
-  const bag = new Rosbag2(entries);
+  const bag = new Rosbag2(entries, messageReaderOptions);
   await bag.open();
   return bag;
 }

yarn.lock

@@ -439,10 +439,10 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/cdr@npm:^2.0.0":
-  version: 2.0.0
-  resolution: "@foxglove/cdr@npm:2.0.0"
-  checksum: 10c0/ac104bbda7d6fe0a8961736f9b935fbed28932ac0554f3f25ed63974146cf6e272e020031974f07ac82dc75206bea1c3117dd5bb58a983e5ec2c7c6ba1a9fea8
+"@foxglove/cdr@npm:^3.3.0":
+  version: 3.3.0
+  resolution: "@foxglove/cdr@npm:3.3.0"
+  checksum: 10c0/8d24d4468509e6bda9bf8c79eff914a699b806fc7bbed2c517f9da87315c692a8c001f4c0a97cc747a2cf6af7232f3fe9596bbbb81c27b0dbfdf8cb226d01b22
   languageName: node
   linkType: hard
 
@@ -469,10 +469,17 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@foxglove/message-definition@npm:^0.2.0":
-  version: 0.2.0
-  resolution: "@foxglove/message-definition@npm:0.2.0"
-  checksum: 10c0/d9b873ae2b358882a58abab5d081fd37cb63e8c9005f333f5b635019eebe2b73e5d805797c79c2e3aef5acf6c80efd585c8be212c9a8527c121d5fd5b61f100d
+"@foxglove/message-definition@npm:^0.3.1":
+  version: 0.3.1
+  resolution: "@foxglove/message-definition@npm:0.3.1"
+  checksum: 10c0/521fadfadcdb9bbde7d28908e429b93a387ded524f8abeb361f27ae5a6f36b8d5dc29cf23dbf0791cc366de59c48dc03aede861faa59df1c64d030b6c659981a
+  languageName: node
+  linkType: hard
+
+"@foxglove/message-definition@npm:^0.4.0":
+  version: 0.4.0
+  resolution: "@foxglove/message-definition@npm:0.4.0"
+  checksum: 10c0/235db9d110cff442ebf2921d9c166a70ef6a7e2464228353fae5bf016ef0ba6a3e56c62af1620ba1e0430f184d3544ef99a8d9409f39c79f131cb4c0f4b63934
   languageName: node
   linkType: hard
 
@@ -481,11 +488,11 @@ __metadata:
   resolution: "@foxglove/rosbag2-node@workspace:."
   dependencies:
     "@foxglove/eslint-plugin": "npm:2.0.0"
-    "@foxglove/rosbag2": "npm:^5.0.0"
+    "@foxglove/rosbag2": "npm:^6.0.0"
     "@types/better-sqlite3": "npm:^7.6.12"
     "@types/jest": "npm:^29.5.14"
     "@types/node": "npm:^22.10.1"
-    better-sqlite3: "npm:^8.1.0"
+    better-sqlite3: "npm:^11.6.0"
     eslint: "npm:9.16.0"
     jest: "npm:29.7.0"
     prettier: "npm:3.4.2"
@@ -494,49 +501,47 @@ __metadata:
   languageName: unknown
   linkType: soft
 
-"@foxglove/rosbag2@npm:^5.0.0":
-  version: 5.0.0
-  resolution: "@foxglove/rosbag2@npm:5.0.0"
+"@foxglove/rosbag2@npm:^6.0.0":
+  version: 6.0.0
+  resolution: "@foxglove/rosbag2@npm:6.0.0"
   dependencies:
-    "@foxglove/rosmsg-msgs-common": "npm:^3.0.0"
-    "@foxglove/rosmsg2-serialization": "npm:^2.0.0"
+    "@foxglove/rosmsg-msgs-common": "npm:^3.2.1"
+    "@foxglove/rosmsg2-serialization": "npm:^3.0.0"
     "@foxglove/rostime": "npm:^1.1.2"
-    "@foxglove/schemas": "npm:^1.1.0"
+    "@foxglove/schemas": "npm:^1.6.5"
     js-yaml: "npm:^4.1.0"
-  checksum: 10c0/647de3fbc4977c14745f4b5bb567197f5661b4070f3fb80c5c47a3651f35e879f6a4aa4489e167680fddab5aca38072accacf7f60fe2cf23d3b52adfdf957b36
+  checksum: 10c0/7332ec950f37efa59820ac90abcc994cd34d8dcb5f446e43afe94dfd5def6251d90883f50925ea6c900959308f38f16cdb17ce7eabe6fd2ed9dde20d16303872
   languageName: node
   linkType: hard
 
-"@foxglove/rosmsg-msgs-common@npm:^3.0.0":
-  version: 3.0.0
-  resolution: "@foxglove/rosmsg-msgs-common@npm:3.0.0"
+"@foxglove/rosmsg-msgs-common@npm:^3.0.0, @foxglove/rosmsg-msgs-common@npm:^3.2.1":
+  version: 3.2.1
+  resolution: "@foxglove/rosmsg-msgs-common@npm:3.2.1"
   dependencies:
-    "@foxglove/message-definition": "npm:^0.2.0"
-    "@foxglove/rosmsg": "npm:^4.0.0"
-  checksum: 10c0/152e81d576ef407138b12ec4e90df8dde49db4ccfe282b47912ba4c964d17ddb0680e4388ac1b08d400e8c7ac07c716389690f00ede52adbe50df6be2555d833
+    "@foxglove/message-definition": "npm:^0.3.1"
+    "@foxglove/rosmsg": "npm:^5.0.4"
+  checksum: 10c0/1f5719916a6cfce176c72d7420b8ab3bdcd2a919a2843f2d0d5c333d24dd57fb222bc119c7ced34392062f25ce6e2043c925cb4a8b253a04214651f41db268a8
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-"@foxglove/rosmsg2-serialization@npm:^2.0.0":
-  version: 2.0.0
-  resolution: "@foxglove/rosmsg2-serialization@npm:2.0.0"
+"@foxglove/rosmsg2-serialization@npm:^3.0.0":
+  version: 3.0.0
+  resolution: "@foxglove/rosmsg2-serialization@npm:3.0.0"
   dependencies:
-    "@foxglove/cdr": "npm:^2.0.0"
-    "@foxglove/message-definition": "npm:^0.2.0"
+    "@foxglove/cdr": "npm:^3.3.0"
+    "@foxglove/message-definition": "npm:^0.4.0"
     "@foxglove/rostime": "npm:^1.1.2"
-  checksum: 10c0/6ceb5811b13715c1800f70d2b412f5ea7e7a2a93cab612915626cbb16ef8337216640931afdbd2838fc82e3d7d38e496e57a9128a40caa0165f0406916bbf510
+  checksum: 10c0/c5d285dae56761f054faed0f3c1c9ab31b5fa94281a8aad17cc6abb637f0e2484dfaf3b0b9a2731fad4958d283a483a00a36074da5d508f26d65dec19dc7e3cb
   languageName: node
   linkType: hard
 
-"@foxglove/rosmsg@npm:^4.0.0":
-  version: 4.0.0
-  resolution: "@foxglove/rosmsg@npm:4.0.0"
+"@foxglove/rosmsg@npm:^5.0.4":
+  version: 5.0.4
+  resolution: "@foxglove/rosmsg@npm:5.0.4"
   dependencies:
-    "@foxglove/message-definition": "npm:^0.2.0"
+    "@foxglove/message-definition": "npm:^0.3.1"
     md5-typescript: "npm:^1.0.5"
-  bin:
-    gendeps2: bin/gendeps2
-  checksum: 10c0/6581ce3cbf10de7dfe0fb6bd3d93256a2188021cbbf8b5f4bdfe58dfbacb6bbe4d577aed12dc2b7927a6a9f8902358dcc921c34ccfa6db8004acdf45c60a144b
+  checksum: 10c0/27651394a2471a88b5d8668ccc8e72592548a49afe0b4a19aa617019a37d7bf5dd49018e2b510e4e8aa778c21e25ca4873e7900613be8d6994a771fab439d929
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@@ -547,13 +552,13 @@ __metadata:
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-"@foxglove/schemas@npm:^1.1.0":
-  version: 1.1.0
-  resolution: "@foxglove/schemas@npm:1.1.0"
+"@foxglove/schemas@npm:^1.6.5":
+  version: 1.6.5
+  resolution: "@foxglove/schemas@npm:1.6.5"
   dependencies:
     "@foxglove/rosmsg-msgs-common": "npm:^3.0.0"
     tslib: "npm:^2.5.0"
-  checksum: 10c0/f1f935c784f458539dcefc1d0fd38e8c495a93f270fd28301179fce1afedb27da6dc56c8ef139511569aa0dee31500a925d476acc5f1cc945d0a4a85dbb76fef
+  checksum: 10c0/7f02739ccd189cbb10b9b64cd09967b78be119866879f77604de2326d9ee1f770a944ded01bdbfd9343be1475c2513c941d42daac756068c116b265f127f7371
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@@ -1603,14 +1608,14 @@ __metadata:
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-"better-sqlite3@npm:^8.1.0":
-  version: 8.1.0
-  resolution: "better-sqlite3@npm:8.1.0"
+"better-sqlite3@npm:^11.6.0":
+  version: 11.6.0
+  resolution: "better-sqlite3@npm:11.6.0"
   dependencies:
     bindings: "npm:^1.5.0"
     node-gyp: "npm:latest"
-    prebuild-install: "npm:^7.1.0"
-  checksum: 10c0/813ed58f92c67b85d9590403aa6ed4f50616defee55b9d34e0cff54070a5f907668e68074f96a195ec283b2a81090e8932f9afaccdc8fa432b497160232fb8cd
+    prebuild-install: "npm:^7.1.1"
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@@ -4879,9 +4884,9 @@ __metadata:
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-"prebuild-install@npm:^7.1.0":
-  version: 7.1.1
-  resolution: "prebuild-install@npm:7.1.1"
+"prebuild-install@npm:^7.1.1":
+  version: 7.1.2
+  resolution: "prebuild-install@npm:7.1.2"
   dependencies:
     detect-libc: "npm:^2.0.0"
     expand-template: "npm:^2.0.3"
@@ -4897,7 +4902,7 @@ __metadata:
     tunnel-agent: "npm:^0.6.0"
   bin:
     prebuild-install: bin.js
-  checksum: 10c0/6dc70f36b0f4adcb2fe0ed38d874ab28b571fb1a9725d769e8ba3f64a15831e58462de09f3e6e64569bcc4a3e03b9328b56faa0d45fe10ae1574478814536c76
+  checksum: 10c0/e64868ba9ef2068fd7264f5b03e5298a901e02a450acdb1f56258d88c09dea601eefdb3d1dfdff8513fdd230a92961712be0676192626a3b4d01ba154d48bdd3
   languageName: node
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