Data Types

In order to remain detached from the robotic hardware and middleware, Bonsai implements various data types, such as PersonData, Points, or Poses. You can find them in the bonsai_interfaces package.

Adapter

Using adapters, the data from the robotic hardware and middleware can be cast to Bonsai specific types. Bonsai already provides the bonsai_adapter_ros package, which transforms ROS messages to Bonsai data types.

For example, the ROS message geometry_msgs/Point is being cast to the Bonsai class Point3D using the Point3dSerializer class. The Bonsai skills will never know about ROS messages and only use the Bonsai Point3D data types.