Foxglove SDK

This repo provides libraries and schemas to log and visualize multimodal data with Foxglove.

Visit Foxglove Docs to get started.

Packages

Package	Version	Description
Python
foxglove-schemas-flatbuffer		Compiled flatbuffers
foxglove-schemas-protobuf		Compiled protocol buffers
foxglove-websocket		Python implementation of the WebSocket protocol Repo: foxglove/ws-protocol
C++
foxglove-websocket		C++ implementation of the WebSocket protocol Repo: foxglove/ws-protocol
ROS
foxglove_msgs		Foxglove message definitions for ROS 1 and ROS 2
TypeScript
@foxglove/schemas		Foxglove schemas for JavaScript / TypeScript
@foxglove/ws-protocol		JavaScript / TypeScript implementation of the WebSocket protocol Repo: foxglove/ws-protocol

Other

The schemas directory contains type definitions for ROS 1, ROS 2, Protobuf, JSON Schema, TypeScript, and OMG IDL. They can be copied and used in your application directly.

Stay in touch

Join our Discord community to ask questions, share feedback, and stay up to date on what our team is working on.

Contributing

Generating schemas

Schemas are defined in internal/schemas.ts. After modifying this file, you will need to regenerate the language-specific definitions.

corepack enable  # ensure you have corepack enabled
yarn install     # install dependencies
yarn update-generated-files

Remember to publish new versions of all libraries!

Release instructions

Releases are published via GitHub Actions.

Rust & Python

All SDK languages are versioned and released together.

1. Manually trigger the “Draft Release” workflow in GitHub Actions, specifying the new version number.
2. Check the release notes, and hit publish on the new release.
3. Ensure the post-release and tag workflows complete successfully.

TypeScript

1. Create and merge a PR bumping the version number in package.json file(s).
2. Manually create a new Release in the GitHub UI. Ensure the tag uses the form [language]/[package-name]/vX.Y.Z.
3. GitHub Actions will take care of the rest.

ROS

For first-time setup, follow the guides for installing bloom and authenticating with GitHub.

Permissions to push to foxglove/ros_foxglove_msgs-release (for ROS 1) and ros2-gbp/ros_foxglove_msgs-release (for ROS 2) are required. The latter are managed via Terraform.

The following is a modified version of bloom release instructions (because catkin_generate_changelog and catkin_prepare_release can’t handle our custom tag format of ros-vX.Y.Z).

1. Manually update package.xml and CHANGELOG.rst with new version info
2. Manually create a tag named ros-vX.Y.Z for the new version
3. Push the newly created commit and tag
4. Run bloom-release foxglove_msgs --ros-distro humble, for each distro you want to publish the release to. Follow the prompts, and the script will automatically make a PR to the ros/rosdistro repo.

Packages will be available via apt after the next sync. View package build status prior to the sync at: melodic, noetic, foxy, galactic, humble, iron, rolling