This repo contains Protobuf and JSON schemas for foxglove and ROS messages.

These schemas can be used in MCAP files or Foxglove WebSocket servers to take advantage of Foxglove Studio's visualizations.

The ROS schemas are generated from the common ROS message types at @foxglove/rosmsg-msgs-common and @foxglove/rosmsg-msgs-foxglove.

Proto

The .proto schemas are located in the proto folder.

Generate

Generate .proto files and JSON Schemas for common ROS datatypes

$ yarn install
$ yarn generate:proto
$ yarn generate:json

Combine .proto files into a binary FileDescriptorSet

$ protoc --proto_path=proto proto/ros/sensor_msgs/PointCloud2.proto --include_imports --descriptor_set_out=PointCloud2.bin