Custom Mappings
Examples
Example custom mapping configurations.
Motor telemetry
Log motor status as scalar time series and text logs:
[
{
type: "my_robot/MotorStatus",
entity: "motor",
fields: {
temperature: { archetype: "Scalars" },
rpm: { archetype: "Scalars" },
current: { archetype: "Scalars" },
status_text: { archetype: "TextLog" },
}
},
]3D detections from a custom message
Expand an array of detections into Rerun Points3D:
[
{
type: "my_robot/Detections",
fields: {
detections: {
archetype: "Points3D",
each: ".",
x: "position.x",
y: "position.y",
z: "position.z",
label: "class",
},
}
},
]Nested sensor data
Recurse into nested sub-messages and log individual fields:
[
{
type: "my_robot/SensorPack",
entity: "sensors",
fields: {
imu: {
fields: {
accel_x: { archetype: "Scalars" },
accel_y: { archetype: "Scalars" },
accel_z: { archetype: "Scalars" },
gyro_x: { archetype: "Scalars" },
gyro_y: { archetype: "Scalars" },
gyro_z: { archetype: "Scalars" },
}
},
gps: {
archetype: "GeoPoints",
lat: "latitude",
lon: "longitude",
alt: "altitude",
},
}
},
]Bounding boxes from a vision pipeline
Map 2D detection results to Boxes2D:
[
{
type: "my_robot/BoundingBoxes",
fields: {
boxes: {
archetype: "Boxes2D",
each: ".",
x: "center_x",
y: "center_y",
w: "width",
h: "height",
label: "class_name",
},
}
},
]Combining with built-in types
Custom mappings are additive — they work alongside the 74 built-in type mappings. If a topic's type has both a built-in converter and a custom mapping, the custom mapping takes precedence.