Add support for lz4 compressed rosbags

aurora-opensource · Jun 10, 2021 · 102c204 · 102c204
1 parent 7469a4d
commit 102c204
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/modules/ros/package.json b/modules/ros/package.json
@@ -17,6 +17,7 @@
     "@xviz/builder": "1.0.8",
     "@xviz/io": "1.0.8",
     "lodash": "^4.17.11",
+    "lz4js": "^0.2.0",
     "rosbag": "^2.0.0",
     "sharp": "^0.23.0",
     "yargs": "^13.2.2"

diff --git a/modules/ros/src/core/ros-bag.js b/modules/ros/src/core/ros-bag.js
@@ -13,6 +13,8 @@
 // limitations under the License.
 /* global Buffer */
 /* eslint-disable camelcase */
+import lz4 from "lz4js";
+
 import {open, TimeUtil} from 'rosbag';
 import {quaternionToEuler} from '../common/quaternion';
 
@@ -66,7 +68,12 @@ export class ROSBag {
     this.bagContext.end_time = TimeUtil.toDate(bag.endTime).getTime() / 1e3;
 
     const frameIdToPoseMap = {};
-    await bag.readMessages({topics: [TF, TF_STATIC]}, ({topic, message}) => {
+    await bag.readMessages({
+      topics: [TF, TF_STATIC],
+      decompress: {
+        lz4: (buffer) => new Buffer(lz4.decompress(buffer)),
+      }
+    }, ({topic, message}) => {
       message.transforms.forEach(t => {
         frameIdToPoseMap[t.child_frame_id] = {
           ...t.transform.translation,
@@ -122,7 +129,10 @@ export class ROSBag {
     const frame = {};
 
     const options = {
-      topics: this.rosConfig.topics
+      topics: this.rosConfig.topics,
+      decompress: {
+        lz4: (buffer) => new Buffer(lz4.decompress(buffer)),
+      },
     };
 
     if (start) {