Add MessageIntrospector for message schema inspection#1346
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Pull request overview
This PR adds a new MessageIntrospector class to provide a convenient way to inspect ROS 2 message structure, fields, and default values without directly using loader.loadInterface. This is useful for debugging, documentation generation, and building dynamic UIs.
Key changes:
- Added
MessageIntrospectorclass with properties for type name, fields, schema, and default values - Implemented deep cloning for default values to prevent mutation
- Provided comprehensive TypeScript definitions and test coverage
Reviewed changes
Copilot reviewed 7 out of 10 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| lib/message_introspector.js | Core implementation of MessageIntrospector class with getters for message metadata and default values |
| types/message_introspector.d.ts | TypeScript type definitions for MessageIntrospector and ROSMessageDef interface |
| types/base.d.ts | Added reference to new message_introspector type definitions |
| index.js | Exported MessageIntrospector class from main module |
| test/test-message-introspector.js | Comprehensive test suite covering constructor validation, properties, and defaults |
| example/message-introspector/message-introspector-example.js | Example demonstrating usage with Twist, String, and JointState messages |
| example/message-introspector/README.md | Documentation and usage guide for MessageIntrospector |
| src/rcl_utilities.cpp | Code formatting fix for RCPPUTILS_SCOPE_EXIT macro |
| src/rcl_logging_bindings.cpp | Code formatting fix for closing brace indentation |
| CONTRIBUTORS.md | Added contributor credit for MessageIntrospector feature |
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minggangw
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Dec 12, 2025
mahmoud-ghalayini
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MessageIntrospector, a utility class that provides a simplified API for inspecting ROS 2 message structure without directly using loader.loadInterface. - typeName: Returns the full message type (e.g., geometry_msgs/msg/Twist) - fields:- Returns an array of top-level field names - defaults: Returns a deep copy of the message's default values - schema: Returns the underlying ROSMessageDef object - typeClass: Returns the underlying constructor
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Public API Changes
Added
MessageIntrospectorclass to inspect ROS 2 message structure without usingloader.loadInterfacedirectly. Useful for debugging, documentation, and building dynamic UIs based on message structure.Constructor:
new MessageIntrospector(typeName)- Create an introspector for any message typeProperties:
introspector.typeName- Get the full message type nameintrospector.typeClass- Get the underlying message class constructorintrospector.fields- Get array of field namesintrospector.schema- Get ROSMessageDef schema objectintrospector.defaults- Get default values for all fields (cached, returns deep copy)TypeScript:
MessageIntrospector<T>classROSMessageDefinterface#1343