From 63f59f595ff96c0524209febd2401dde5b35ec42 Mon Sep 17 00:00:00 2001
From: Jacob Bandes-Storch <jacob@foxglove.dev>
Date: Mon, 28 Aug 2023 11:13:07 -0700
Subject: [PATCH] Generate .idl schemas (#126)

Adds OMG IDL definitions for Foxglove schemas.
---
 README.md                                     |   2 +-
 internal/generateFlatbufferSchema.test.ts     |   4 +-
 internal/generateJsonSchema.test.ts           |   8 +-
 internal/generateOmgIdl.test.ts               | 187 ++++++++++++++++++
 internal/generateOmgIdl.ts                    | 141 +++++++++++++
 internal/generateProto.test.ts                |   4 +-
 internal/generateRos.test.ts                  |  50 ++---
 internal/generateTypeScript.test.ts           |   4 +-
 internal/testFixtures.ts                      |   4 +-
 package.json                                  |   1 +
 schemas/omgidl/foxglove/ArrowPrimitive.idl    |  29 +++
 schemas/omgidl/foxglove/CameraCalibration.idl |  75 +++++++
 schemas/omgidl/foxglove/CircleAnnotation.idl  |  30 +++
 schemas/omgidl/foxglove/Color.idl             |  24 +++
 schemas/omgidl/foxglove/CompressedImage.idl   |  24 +++
 schemas/omgidl/foxglove/CompressedVideo.idl   |  24 +++
 schemas/omgidl/foxglove/CubePrimitive.idl     |  21 ++
 schemas/omgidl/foxglove/CylinderPrimitive.idl |  27 +++
 schemas/omgidl/foxglove/Duration.idl          |   8 +
 schemas/omgidl/foxglove/FrameTransform.idl    |  27 +++
 schemas/omgidl/foxglove/FrameTransforms.idl   |  13 ++
 schemas/omgidl/foxglove/GeoJSON.idl           |  11 ++
 schemas/omgidl/foxglove/Grid.idl              |  40 ++++
 schemas/omgidl/foxglove/ImageAnnotations.idl  |  21 ++
 schemas/omgidl/foxglove/KeyValuePair.idl      |  14 ++
 schemas/omgidl/foxglove/LaserScan.idl         |  32 +++
 schemas/omgidl/foxglove/LinePrimitive.idl     |  39 ++++
 schemas/omgidl/foxglove/LineType.idl          |  20 ++
 schemas/omgidl/foxglove/LocationFix.idl       |  32 +++
 schemas/omgidl/foxglove/Log.idl               |  29 +++
 schemas/omgidl/foxglove/LogLevel.idl          |  26 +++
 schemas/omgidl/foxglove/ModelPrimitive.idl    |  33 ++++
 schemas/omgidl/foxglove/NumericType.idl       |  35 ++++
 .../omgidl/foxglove/PackedElementField.idl    |  19 ++
 schemas/omgidl/foxglove/Point2.idl            |  14 ++
 schemas/omgidl/foxglove/Point3.idl            |  17 ++
 schemas/omgidl/foxglove/PointCloud.idl        |  30 +++
 schemas/omgidl/foxglove/PointsAnnotation.idl  |  34 ++++
 .../omgidl/foxglove/PointsAnnotationType.idl  |  27 +++
 schemas/omgidl/foxglove/Pose.idl              |  17 ++
 schemas/omgidl/foxglove/PoseInFrame.idl       |  20 ++
 schemas/omgidl/foxglove/PosesInFrame.idl      |  20 ++
 .../foxglove/PositionCovarianceType.idl       |  20 ++
 schemas/omgidl/foxglove/Quaternion.idl        |  21 ++
 schemas/omgidl/foxglove/RawImage.idl          |  33 ++++
 schemas/omgidl/foxglove/SceneEntity.idl       |  62 ++++++
 .../omgidl/foxglove/SceneEntityDeletion.idl   |  20 ++
 .../foxglove/SceneEntityDeletionType.idl      |  16 ++
 schemas/omgidl/foxglove/SceneUpdate.idl       |  17 ++
 schemas/omgidl/foxglove/SpherePrimitive.idl   |  21 ++
 schemas/omgidl/foxglove/TextAnnotation.idl    |  31 +++
 schemas/omgidl/foxglove/TextPrimitive.idl     |  29 +++
 schemas/omgidl/foxglove/Time.idl              |   8 +
 .../omgidl/foxglove/TriangleListPrimitive.idl |  29 +++
 schemas/omgidl/foxglove/Vector2.idl           |  16 ++
 schemas/omgidl/foxglove/Vector3.idl           |  20 ++
 scripts/updateGeneratedFiles.ts               |  19 ++
 yarn.lock                                     |  12 ++
 58 files changed, 1574 insertions(+), 37 deletions(-)
 create mode 100644 internal/generateOmgIdl.test.ts
 create mode 100644 internal/generateOmgIdl.ts
 create mode 100644 schemas/omgidl/foxglove/ArrowPrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/CameraCalibration.idl
 create mode 100644 schemas/omgidl/foxglove/CircleAnnotation.idl
 create mode 100644 schemas/omgidl/foxglove/Color.idl
 create mode 100644 schemas/omgidl/foxglove/CompressedImage.idl
 create mode 100644 schemas/omgidl/foxglove/CompressedVideo.idl
 create mode 100644 schemas/omgidl/foxglove/CubePrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/CylinderPrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/Duration.idl
 create mode 100644 schemas/omgidl/foxglove/FrameTransform.idl
 create mode 100644 schemas/omgidl/foxglove/FrameTransforms.idl
 create mode 100644 schemas/omgidl/foxglove/GeoJSON.idl
 create mode 100644 schemas/omgidl/foxglove/Grid.idl
 create mode 100644 schemas/omgidl/foxglove/ImageAnnotations.idl
 create mode 100644 schemas/omgidl/foxglove/KeyValuePair.idl
 create mode 100644 schemas/omgidl/foxglove/LaserScan.idl
 create mode 100644 schemas/omgidl/foxglove/LinePrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/LineType.idl
 create mode 100644 schemas/omgidl/foxglove/LocationFix.idl
 create mode 100644 schemas/omgidl/foxglove/Log.idl
 create mode 100644 schemas/omgidl/foxglove/LogLevel.idl
 create mode 100644 schemas/omgidl/foxglove/ModelPrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/NumericType.idl
 create mode 100644 schemas/omgidl/foxglove/PackedElementField.idl
 create mode 100644 schemas/omgidl/foxglove/Point2.idl
 create mode 100644 schemas/omgidl/foxglove/Point3.idl
 create mode 100644 schemas/omgidl/foxglove/PointCloud.idl
 create mode 100644 schemas/omgidl/foxglove/PointsAnnotation.idl
 create mode 100644 schemas/omgidl/foxglove/PointsAnnotationType.idl
 create mode 100644 schemas/omgidl/foxglove/Pose.idl
 create mode 100644 schemas/omgidl/foxglove/PoseInFrame.idl
 create mode 100644 schemas/omgidl/foxglove/PosesInFrame.idl
 create mode 100644 schemas/omgidl/foxglove/PositionCovarianceType.idl
 create mode 100644 schemas/omgidl/foxglove/Quaternion.idl
 create mode 100644 schemas/omgidl/foxglove/RawImage.idl
 create mode 100644 schemas/omgidl/foxglove/SceneEntity.idl
 create mode 100644 schemas/omgidl/foxglove/SceneEntityDeletion.idl
 create mode 100644 schemas/omgidl/foxglove/SceneEntityDeletionType.idl
 create mode 100644 schemas/omgidl/foxglove/SceneUpdate.idl
 create mode 100644 schemas/omgidl/foxglove/SpherePrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/TextAnnotation.idl
 create mode 100644 schemas/omgidl/foxglove/TextPrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/Time.idl
 create mode 100644 schemas/omgidl/foxglove/TriangleListPrimitive.idl
 create mode 100644 schemas/omgidl/foxglove/Vector2.idl
 create mode 100644 schemas/omgidl/foxglove/Vector3.idl

diff --git a/README.md b/README.md
index e6563f40..65962386 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ Message schemas supported by [Foxglove Studio](https://studio.foxglove.dev)
 
 See [Foxglove Schemas documentation](https://foxglove.dev/docs/studio/messages).
 
-The [schemas](./schemas) folder contains type definitions generated for ROS 1, ROS 2, Protobuf, JSON Schema, and TypeScript.
+The [schemas](./schemas) folder contains type definitions generated for ROS 1, ROS 2, Protobuf, JSON Schema, TypeScript, and OMG IDL.
 
 These schemas can be used in [MCAP](https://github.com/foxglove/mcap) files or [Foxglove WebSocket](https://github.com/foxglove/ws-protocol) servers to take advantage of Foxglove Studio's visualizations.
 
diff --git a/internal/generateFlatbufferSchema.test.ts b/internal/generateFlatbufferSchema.test.ts
index c9fa3fa9..a93a2988 100644
--- a/internal/generateFlatbufferSchema.test.ts
+++ b/internal/generateFlatbufferSchema.test.ts
@@ -16,10 +16,10 @@ describe("generateFlatbuffers", () => {
       /// An example enum
       enum ExampleEnum : ubyte {
         /// Value A
-        A = 1,
+        A = 0,
 
         /// Value B
-        B = 2,
+        B = 1,
       }
       /// An example type
       table ExampleMessage {
diff --git a/internal/generateJsonSchema.test.ts b/internal/generateJsonSchema.test.ts
index b2c8a84e..c7bec029 100644
--- a/internal/generateJsonSchema.test.ts
+++ b/internal/generateJsonSchema.test.ts
@@ -111,12 +111,12 @@ describe("generateJsonSchema", () => {
             "description": "An enum field",
             "oneOf": [
               {
-                "const": 1,
+                "const": 0,
                 "description": "Value A",
                 "title": "A",
               },
               {
-                "const": 2,
+                "const": 1,
                 "description": "Value B",
                 "title": "B",
               },
@@ -129,12 +129,12 @@ describe("generateJsonSchema", () => {
               "description": "An enum array field",
               "oneOf": [
                 {
-                  "const": 1,
+                  "const": 0,
                   "description": "Value A",
                   "title": "A",
                 },
                 {
-                  "const": 2,
+                  "const": 1,
                   "description": "Value B",
                   "title": "B",
                 },
diff --git a/internal/generateOmgIdl.test.ts b/internal/generateOmgIdl.test.ts
new file mode 100644
index 00000000..6d9ae95a
--- /dev/null
+++ b/internal/generateOmgIdl.test.ts
@@ -0,0 +1,187 @@
+import { parseIdl } from "@foxglove/omgidl-parser";
+
+import { DURATION_IDL, TIME_IDL, generateOmgIdl } from "./generateOmgIdl";
+import { foxgloveEnumSchemas, foxgloveMessageSchemas } from "./schemas";
+import { exampleEnum, exampleMessage } from "./testFixtures";
+
+describe("generateOmgIdl", () => {
+  it("generates .idl files", () => {
+    expect(generateOmgIdl(exampleEnum)).toMatchInlineSnapshot(`
+      "// Generated by https://github.com/foxglove/schemas
+
+      module foxglove {
+
+      // An example enum
+      enum ExampleEnum {
+        // Value A
+        // Value: 0
+        A,
+
+        // Value B
+        // Value: 1
+        B
+      };
+
+      };
+      "
+    `);
+    expect(generateOmgIdl(exampleMessage)).toMatchInlineSnapshot(`
+      "// Generated by https://github.com/foxglove/schemas
+
+      #include "foxglove/Duration.idl"
+      #include "foxglove/ExampleEnum.idl"
+      #include "foxglove/NestedMessage.idl"
+      #include "foxglove/Time.idl"
+
+      module foxglove {
+
+      // An example type
+      struct ExampleMessage {
+        // duration field
+        Duration field_duration;
+
+        // time field
+        Time field_time;
+
+        // boolean field
+        @default(TRUE)
+        boolean field_boolean;
+
+        // bytes field
+        sequence<uint8> field_bytes;
+
+        // float64 field
+        @default(1.0)
+        double field_float64;
+
+        // uint32 field
+        @default(5)
+        uint32 field_uint32;
+
+        // string field
+        @default("string-type")
+        string field_string;
+
+        // duration array field
+        sequence<Duration> field_duration_array;
+
+        // time array field
+        sequence<Time> field_time_array;
+
+        // boolean array field
+        sequence<boolean> field_boolean_array;
+
+        // bytes array field
+        sequence<sequence<uint8>> field_bytes_array;
+
+        // float64 array field
+        sequence<double> field_float64_array;
+
+        // uint32 array field
+        sequence<uint32> field_uint32_array;
+
+        // string array field
+        sequence<string> field_string_array;
+
+        // duration fixed-length array field
+        Duration field_duration_fixed_array[3];
+
+        // time fixed-length array field
+        Time field_time_fixed_array[3];
+
+        // boolean fixed-length array field
+        boolean field_boolean_fixed_array[3];
+
+        // bytes fixed-length array field
+        sequence<uint8> field_bytes_fixed_array[3];
+
+        // float64 fixed-length array field
+        double field_float64_fixed_array[3];
+
+        // uint32 fixed-length array field
+        uint32 field_uint32_fixed_array[3];
+
+        // string fixed-length array field
+        string field_string_fixed_array[3];
+
+        // An enum field
+        ExampleEnum field_enum;
+
+        // An enum array field
+        sequence<ExampleEnum> field_enum_array;
+
+        // A nested field
+        NestedMessage field_nested;
+
+        // A nested array field
+        // With
+        // a
+        // very
+        // long
+        // description
+        sequence<NestedMessage> field_nested_array;
+      };
+
+      };
+      "
+    `);
+  });
+
+  const allIdlFiles = new Map<string, string>([
+    ["Time", TIME_IDL],
+    ["Duration", DURATION_IDL],
+    ...Object.entries(foxgloveMessageSchemas).map(([name, schema]): [string, string] => [
+      name,
+      generateOmgIdl(schema),
+    ]),
+    ...Object.entries(foxgloveEnumSchemas).map(([name, schema]): [string, string] => [
+      name,
+      generateOmgIdl(schema),
+    ]),
+  ]);
+
+  it.each(Object.values(foxgloveMessageSchemas))("generates parseable .idl for $name", (schema) => {
+    const includePattern = /^#include "foxglove\/(.*)\.idl"$/gm;
+    let idl = generateOmgIdl(schema);
+    while (includePattern.test(idl)) {
+      idl = idl.replace(includePattern, (_match, name: string) => {
+        const file = allIdlFiles.get(name);
+        if (file == undefined) {
+          throw new Error(`Invalid include ${name}`);
+        }
+        return file;
+      });
+    }
+    expect(() => parseIdl(idl)).not.toThrow();
+  });
+
+  it("refuses to generate enum with non-sequential values", () => {
+    expect(() =>
+      generateOmgIdl({
+        type: "enum",
+        name: "Foo",
+        description: "",
+        parentSchemaName: "Bar",
+        protobufEnumName: "Foo",
+        values: [{ name: "A", value: 1 }],
+      }),
+    ).toThrowErrorMatchingInlineSnapshot(
+      `"Enum value Foo.A at index 0 has value 1; index and value must match for OMG IDL"`,
+    );
+    expect(() =>
+      generateOmgIdl({
+        type: "enum",
+        name: "Foo",
+        description: "",
+        parentSchemaName: "Bar",
+        protobufEnumName: "Foo",
+        values: [
+          { name: "A", value: 0 },
+          { name: "B", value: 3 },
+        ],
+      }),
+    ).toThrowErrorMatchingInlineSnapshot(
+      `"Enum value Foo.B at index 1 has value 3; index and value must match for OMG IDL"`,
+    );
+  });
+});
diff --git a/internal/generateOmgIdl.ts b/internal/generateOmgIdl.ts
new file mode 100644
index 00000000..0b81169a
--- /dev/null
+++ b/internal/generateOmgIdl.ts
@@ -0,0 +1,141 @@
+import { FoxglovePrimitive, FoxgloveSchema } from "./types";
+
+function primitiveToIdl(type: Exclude<FoxglovePrimitive, "time" | "duration">) {
+  switch (type) {
+    case "bytes":
+      return "sequence<uint8>";
+    case "string":
+      return "string";
+    case "boolean":
+      return "boolean";
+    case "float64":
+      return "double";
+    case "uint32":
+      return "uint32";
+  }
+}
+
+export const TIME_IDL = `\
+module foxglove {
+
+struct Time {
+  uint32 sec;
+  uint32 nsec;
+};
+
+};
+`;
+
+export const DURATION_IDL = `\
+module foxglove {
+
+struct Duration {
+  int32 sec;
+  uint32 nsec;
+};
+
+};
+`;
+
+export function generateOmgIdl(schema: FoxgloveSchema): string {
+  const imports = new Set<string>();
+
+  let definition: string;
+  switch (schema.type) {
+    case "enum": {
+      const fields = schema.values.map(({ name, value, description }, index) => {
+        const separator = index === schema.values.length - 1 ? "" : ",";
+        if (value !== index) {
+          throw new Error(
+            `Enum value ${schema.name}.${name} at index ${index} has value ${value}; index and value must match for OMG IDL`,
+          );
+        }
+        if (description != undefined) {
+          return `// ${description}\n  // Value: ${value}\n  ${name}${separator}`;
+        } else {
+          return `// Value: ${value}\n  ${name}${separator}`;
+        }
+      });
+      definition = `// ${schema.description}\nenum ${schema.name} {\n  ${fields.join(
+        "\n\n  ",
+      )}\n};`;
+      break;
+    }
+
+    case "message": {
+      const fields = schema.fields.map((field) => {
+        let fieldType: string;
+        switch (field.type.type) {
+          case "enum":
+            fieldType = field.type.enum.name;
+            imports.add(field.type.enum.name);
+            break;
+          case "nested":
+            fieldType = field.type.schema.name;
+            imports.add(field.type.schema.name);
+            break;
+          case "primitive":
+            if (field.type.name === "time") {
+              fieldType = "Time";
+              imports.add("Time");
+            } else if (field.type.name === "duration") {
+              fieldType = "Duration";
+              imports.add("Duration");
+            } else {
+              fieldType = primitiveToIdl(field.type.name);
+            }
+            break;
+        }
+        let arraySize = "";
+        if (typeof field.array === "number") {
+          arraySize = `[${field.array}]`;
+        } else if (field.array != undefined) {
+          fieldType = `sequence<${fieldType}>`;
+        }
+        const descriptionLines = field.description.trim().split("\n");
+        const comment = descriptionLines.map((line) => `// ${line}`).join("\n  ");
+
+        let defaultAnnotation = "";
+        if (typeof field.defaultValue === "string") {
+          defaultAnnotation = `@default(${JSON.stringify(field.defaultValue)})\n  `;
+        } else if (typeof field.defaultValue === "number") {
+          // For floating-point fields with integer default values, ensure we output a number with
+          // at least one decimal place so it is interpreted as an IDL floating-point literal
+          if (
+            field.type.type === "primitive" &&
+            field.type.name === "float64" &&
+            Number.isInteger(field.defaultValue)
+          ) {
+            defaultAnnotation = `@default(${field.defaultValue.toFixed(1)})\n  `;
+          } else {
+            defaultAnnotation = `@default(${field.defaultValue})\n  `;
+          }
+        } else if (typeof field.defaultValue === "boolean") {
+          defaultAnnotation = `@default(${field.defaultValue ? "TRUE" : "FALSE"})\n  `;
+        }
+
+        return `${comment}\n  ${defaultAnnotation}${fieldType} ${field.name}${arraySize};`;
+      });
+
+      definition = `// ${schema.description}\nstruct ${schema.name} {\n  ${fields.join(
+        "\n\n  ",
+      )}\n};`;
+      break;
+    }
+  }
+
+  const outputSections = [
+    `// Generated by https://github.com/foxglove/schemas`,
+
+    Array.from(imports)
+      .sort()
+      .map((name) => `#include "foxglove/${name}.idl"`)
+      .join("\n"),
+
+    "module foxglove {",
+    definition,
+    "};",
+  ].filter(Boolean);
+
+  return outputSections.join("\n\n") + "\n";
+}
diff --git a/internal/generateProto.test.ts b/internal/generateProto.test.ts
index 79b55554..63cb2b5f 100644
--- a/internal/generateProto.test.ts
+++ b/internal/generateProto.test.ts
@@ -22,10 +22,10 @@ describe("generateProto", () => {
         // An example enum
         enum ExampleProtoEnum {
           // Value A
-          A = 1;
+          A = 0;
 
           // Value B
-          B = 2;
+          B = 1;
         }
         // duration field
         google.protobuf.Duration field_duration = 1;
diff --git a/internal/generateRos.test.ts b/internal/generateRos.test.ts
index 3c82b8f9..883ae8e8 100644
--- a/internal/generateRos.test.ts
+++ b/internal/generateRos.test.ts
@@ -172,16 +172,16 @@ describe("generateRosMsgDefinition", () => {
             "isConstant": true,
             "name": "A",
             "type": "uint8",
-            "value": 1,
-            "valueText": "1",
+            "value": 0,
+            "valueText": "0",
           },
           {
             "description": "Value B",
             "isConstant": true,
             "name": "B",
             "type": "uint8",
-            "value": 2,
-            "valueText": "2",
+            "value": 1,
+            "valueText": "1",
           },
           {
             "arrayLength": undefined,
@@ -390,16 +390,16 @@ describe("generateRosMsgDefinition", () => {
             "isConstant": true,
             "name": "A",
             "type": "uint8",
-            "value": 1,
-            "valueText": "1",
+            "value": 0,
+            "valueText": "0",
           },
           {
             "description": "Value B",
             "isConstant": true,
             "name": "B",
             "type": "uint8",
-            "value": 2,
-            "valueText": "2",
+            "value": 1,
+            "valueText": "1",
           },
           {
             "arrayLength": undefined,
@@ -454,6 +454,7 @@ describe("generateRosMsg", () => {
         generateRosMsgDefinition(exampleMessageWithoutArrayOfBytes, {
           rosVersion: 1,
         }),
+
         { rosVersion: 1 },
       ),
     ).toMatchInlineSnapshot(`
@@ -520,10 +521,10 @@ describe("generateRosMsg", () => {
       string[3] field_string_fixed_array
 
       # Value A
-      uint8 A=1
+      uint8 A=0
 
       # Value B
-      uint8 B=2
+      uint8 B=1
 
       # An enum field
       uint8 field_enum
@@ -551,6 +552,7 @@ describe("generateRosMsg", () => {
         generateRosMsgDefinition(exampleMessageWithoutArrayOfBytes, {
           rosVersion: 2,
         }),
+
         { rosVersion: 2 },
       ),
     ).toMatchInlineSnapshot(`
@@ -617,10 +619,10 @@ describe("generateRosMsg", () => {
       string[3] field_string_fixed_array
 
       # Value A
-      uint8 A=1
+      uint8 A=0
 
       # Value B
-      uint8 B=2
+      uint8 B=1
 
       # An enum field
       uint8 field_enum
@@ -712,10 +714,10 @@ describe("generateRosMsgMergedSchema", () => {
       string[3] field_string_fixed_array
 
       # Value A
-      uint8 A=1
+      uint8 A=0
 
       # Value B
-      uint8 B=2
+      uint8 B=1
 
       # An enum field
       uint8 field_enum
@@ -872,15 +874,15 @@ describe("generateRosMsgMergedSchema", () => {
               "isConstant": true,
               "name": "A",
               "type": "uint8",
-              "value": 1,
-              "valueText": "1",
+              "value": 0,
+              "valueText": "0",
             },
             {
               "isConstant": true,
               "name": "B",
               "type": "uint8",
-              "value": 2,
-              "valueText": "2",
+              "value": 1,
+              "valueText": "1",
             },
             {
               "isArray": false,
@@ -992,10 +994,10 @@ describe("generateRosMsgMergedSchema", () => {
       string[3] field_string_fixed_array
 
       # Value A
-      uint8 A=1
+      uint8 A=0
 
       # Value B
-      uint8 B=2
+      uint8 B=1
 
       # An enum field
       uint8 field_enum
@@ -1285,8 +1287,8 @@ describe("generateRosMsgMergedSchema", () => {
               "name": "A",
               "type": "uint8",
               "upperBound": undefined,
-              "value": 1,
-              "valueText": "1",
+              "value": 0,
+              "valueText": "0",
             },
             {
               "arrayLength": undefined,
@@ -1298,8 +1300,8 @@ describe("generateRosMsgMergedSchema", () => {
               "name": "B",
               "type": "uint8",
               "upperBound": undefined,
-              "value": 2,
-              "valueText": "2",
+              "value": 1,
+              "valueText": "1",
             },
             {
               "arrayLength": undefined,
diff --git a/internal/generateTypeScript.test.ts b/internal/generateTypeScript.test.ts
index 79f560a7..0c213f44 100644
--- a/internal/generateTypeScript.test.ts
+++ b/internal/generateTypeScript.test.ts
@@ -9,10 +9,10 @@ describe("generateTypeScript", () => {
       /** An example enum */
       export enum ExampleEnum {
         /** Value A */
-        A = 1,
+        A = 0,
 
         /** Value B */
-        B = 2,
+        B = 1,
       }
       "
     `);
diff --git a/internal/testFixtures.ts b/internal/testFixtures.ts
index cf949a2c..eabf5c85 100644
--- a/internal/testFixtures.ts
+++ b/internal/testFixtures.ts
@@ -17,8 +17,8 @@ export const exampleEnum: FoxgloveEnumSchema = {
   parentSchemaName: "ExampleMessage",
   description: "An example enum",
   values: [
-    { name: "A", value: 1, description: "Value A" },
-    { name: "B", value: 2, description: "Value B" },
+    { name: "A", value: 0, description: "Value A" },
+    { name: "B", value: 1, description: "Value B" },
   ],
 };
 
diff --git a/package.json b/package.json
index 7f449e44..87098049 100644
--- a/package.json
+++ b/package.json
@@ -26,6 +26,7 @@
   },
   "devDependencies": {
     "@foxglove/eslint-plugin": "0.21.0",
+    "@foxglove/omgidl-parser": "^0.2.0",
     "@foxglove/rosmsg": "^4.0.0",
     "@foxglove/tsconfig": "1.1.0",
     "@types/jest": "29.4.0",
diff --git a/schemas/omgidl/foxglove/ArrowPrimitive.idl b/schemas/omgidl/foxglove/ArrowPrimitive.idl
new file mode 100644
index 00000000..28f48d4e
--- /dev/null
+++ b/schemas/omgidl/foxglove/ArrowPrimitive.idl
@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+
+module foxglove {
+
+// A primitive representing an arrow
+struct ArrowPrimitive {
+  // Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.
+  Pose pose;
+
+  // Length of the arrow shaft
+  double shaft_length;
+
+  // Diameter of the arrow shaft
+  double shaft_diameter;
+
+  // Length of the arrow head
+  double head_length;
+
+  // Diameter of the arrow head
+  double head_diameter;
+
+  // Color of the arrow
+  Color color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CameraCalibration.idl b/schemas/omgidl/foxglove/CameraCalibration.idl
new file mode 100644
index 00000000..5696ca80
--- /dev/null
+++ b/schemas/omgidl/foxglove/CameraCalibration.idl
@@ -0,0 +1,75 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// Camera calibration parameters
+struct CameraCalibration {
+  // Timestamp of calibration data
+  Time timestamp;
+
+  // Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id;
+
+  // Image width
+  uint32 width;
+
+  // Image height
+  uint32 height;
+
+  // Name of distortion model
+  // 
+  // Supported values: `plumb_bob` and `rational_polynomial`
+  string distortion_model;
+
+  // Distortion parameters
+  sequence<double> D;
+
+  // Intrinsic camera matrix (3x3 row-major matrix)
+  // 
+  // A 3x3 row-major matrix for the raw (distorted) image.
+  // 
+  // Projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx, fy) and principal point (cx, cy).
+  // 
+  // ```
+  //     [fx  0 cx]
+  // K = [ 0 fy cy]
+  //     [ 0  0  1]
+  // ```
+  double K[9];
+
+  // Rectification matrix (stereo cameras only, 3x3 row-major matrix)
+  // 
+  // A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.
+  double R[9];
+
+  // Projection/camera matrix (3x4 row-major matrix)
+  // 
+  // ```
+  //     [fx'  0  cx' Tx]
+  // P = [ 0  fy' cy' Ty]
+  //     [ 0   0   1   0]
+  // ```
+  // 
+  // By convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image. That is, the left 3x3 portion is the normal camera intrinsic matrix for the rectified image.
+  // 
+  // It projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx', fy') and principal point (cx', cy') - these may differ from the values in K.
+  // 
+  // For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will also have R = the identity and P[1:3,1:3] = K.
+  // 
+  // For a stereo pair, the fourth column [Tx Ty 0]' is related to the position of the optical center of the second camera in the first camera's frame. We assume Tz = 0 so both cameras are in the same stereo image plane. The first camera always has Tx = Ty = 0. For the right (second) camera of a horizontal stereo pair, Ty = 0 and Tx = -fx' * B, where B is the baseline between the cameras.
+  // 
+  // Given a 3D point [X Y Z]', the projection (x, y) of the point onto the rectified image is given by:
+  // 
+  // ```
+  // [u v w]' = P * [X Y Z 1]'
+  //        x = u / w
+  //        y = v / w
+  // ```
+  // 
+  // This holds for both images of a stereo pair.
+  double P[12];
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CircleAnnotation.idl b/schemas/omgidl/foxglove/CircleAnnotation.idl
new file mode 100644
index 00000000..27e2d8a6
--- /dev/null
+++ b/schemas/omgidl/foxglove/CircleAnnotation.idl
@@ -0,0 +1,30 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Point2.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A circle annotation on a 2D image
+struct CircleAnnotation {
+  // Timestamp of circle
+  Time timestamp;
+
+  // Center of the circle in 2D image coordinates (pixels)
+  Point2 position;
+
+  // Circle diameter in pixels
+  double diameter;
+
+  // Line thickness in pixels
+  double thickness;
+
+  // Fill color
+  Color fill_color;
+
+  // Outline color
+  Color outline_color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Color.idl b/schemas/omgidl/foxglove/Color.idl
new file mode 100644
index 00000000..c80a4f73
--- /dev/null
+++ b/schemas/omgidl/foxglove/Color.idl
@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A color in RGBA format
+struct Color {
+  // Red value between 0 and 1
+  @default(1.0)
+  double r;
+
+  // Green value between 0 and 1
+  @default(1.0)
+  double g;
+
+  // Blue value between 0 and 1
+  @default(1.0)
+  double b;
+
+  // Alpha value between 0 and 1
+  @default(1.0)
+  double a;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CompressedImage.idl b/schemas/omgidl/foxglove/CompressedImage.idl
new file mode 100644
index 00000000..f93cc1fc
--- /dev/null
+++ b/schemas/omgidl/foxglove/CompressedImage.idl
@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A compressed image
+struct CompressedImage {
+  // Timestamp of image
+  Time timestamp;
+
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id;
+
+  // Compressed image data
+  sequence<uint8> data;
+
+  // Image format
+  // 
+  // Supported values: `webp`, `jpeg`, `png`
+  string format;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CompressedVideo.idl b/schemas/omgidl/foxglove/CompressedVideo.idl
new file mode 100644
index 00000000..3b39e1c7
--- /dev/null
+++ b/schemas/omgidl/foxglove/CompressedVideo.idl
@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A single frame of a compressed video bitstream
+struct CompressedVideo {
+  // Timestamp of image
+  Time timestamp;
+
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id;
+
+  // Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+  sequence<uint8> data;
+
+  // Video format
+  // 
+  // Supported values: `h264`
+  string format;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CubePrimitive.idl b/schemas/omgidl/foxglove/CubePrimitive.idl
new file mode 100644
index 00000000..b3f7afa6
--- /dev/null
+++ b/schemas/omgidl/foxglove/CubePrimitive.idl
@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A primitive representing a cube or rectangular prism
+struct CubePrimitive {
+  // Position of the center of the cube and orientation of the cube
+  Pose pose;
+
+  // Size of the cube along each axis
+  Vector3 size;
+
+  // Color of the cube
+  Color color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/CylinderPrimitive.idl b/schemas/omgidl/foxglove/CylinderPrimitive.idl
new file mode 100644
index 00000000..afb2b6e3
--- /dev/null
+++ b/schemas/omgidl/foxglove/CylinderPrimitive.idl
@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A primitive representing a cylinder, elliptic cylinder, or truncated cone
+struct CylinderPrimitive {
+  // Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.
+  Pose pose;
+
+  // Size of the cylinder's bounding box
+  Vector3 size;
+
+  // 0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box
+  double bottom_scale;
+
+  // 0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box
+  double top_scale;
+
+  // Color of the cylinder
+  Color color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Duration.idl b/schemas/omgidl/foxglove/Duration.idl
new file mode 100644
index 00000000..592335ed
--- /dev/null
+++ b/schemas/omgidl/foxglove/Duration.idl
@@ -0,0 +1,8 @@
+module foxglove {
+
+struct Duration {
+  int32 sec;
+  uint32 nsec;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/FrameTransform.idl b/schemas/omgidl/foxglove/FrameTransform.idl
new file mode 100644
index 00000000..92f183bc
--- /dev/null
+++ b/schemas/omgidl/foxglove/FrameTransform.idl
@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Quaternion.idl"
+#include "foxglove/Time.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A transform between two reference frames in 3D space
+struct FrameTransform {
+  // Timestamp of transform
+  Time timestamp;
+
+  // Name of the parent frame
+  string parent_frame_id;
+
+  // Name of the child frame
+  string child_frame_id;
+
+  // Translation component of the transform
+  Vector3 translation;
+
+  // Rotation component of the transform
+  Quaternion rotation;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/FrameTransforms.idl b/schemas/omgidl/foxglove/FrameTransforms.idl
new file mode 100644
index 00000000..26abd5b0
--- /dev/null
+++ b/schemas/omgidl/foxglove/FrameTransforms.idl
@@ -0,0 +1,13 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/FrameTransform.idl"
+
+module foxglove {
+
+// An array of FrameTransform messages
+struct FrameTransforms {
+  // Array of transforms
+  sequence<FrameTransform> transforms;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/GeoJSON.idl b/schemas/omgidl/foxglove/GeoJSON.idl
new file mode 100644
index 00000000..928d6499
--- /dev/null
+++ b/schemas/omgidl/foxglove/GeoJSON.idl
@@ -0,0 +1,11 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// GeoJSON data for annotating maps
+struct GeoJSON {
+  // GeoJSON data encoded as a UTF-8 string
+  string geojson;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Grid.idl b/schemas/omgidl/foxglove/Grid.idl
new file mode 100644
index 00000000..af2db86b
--- /dev/null
+++ b/schemas/omgidl/foxglove/Grid.idl
@@ -0,0 +1,40 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/PackedElementField.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Time.idl"
+#include "foxglove/Vector2.idl"
+
+module foxglove {
+
+// A 2D grid of data
+struct Grid {
+  // Timestamp of grid
+  Time timestamp;
+
+  // Frame of reference
+  string frame_id;
+
+  // Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin
+  Pose pose;
+
+  // Number of grid columns
+  uint32 column_count;
+
+  // Size of single grid cell along x and y axes, relative to `pose`
+  Vector2 cell_size;
+
+  // Number of bytes between rows in `data`
+  uint32 row_stride;
+
+  // Number of bytes between cells within a row in `data`
+  uint32 cell_stride;
+
+  // Fields in `data`. `red`, `green`, `blue`, and `alpha` are optional for customizing the grid's color.
+  sequence<PackedElementField> fields;
+
+  // Grid cell data, interpreted using `fields`, in row-major (y-major) order
+  sequence<uint8> data;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/ImageAnnotations.idl b/schemas/omgidl/foxglove/ImageAnnotations.idl
new file mode 100644
index 00000000..c21544b3
--- /dev/null
+++ b/schemas/omgidl/foxglove/ImageAnnotations.idl
@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/CircleAnnotation.idl"
+#include "foxglove/PointsAnnotation.idl"
+#include "foxglove/TextAnnotation.idl"
+
+module foxglove {
+
+// Array of annotations for a 2D image
+struct ImageAnnotations {
+  // Circle annotations
+  sequence<CircleAnnotation> circles;
+
+  // Points annotations
+  sequence<PointsAnnotation> points;
+
+  // Text annotations
+  sequence<TextAnnotation> texts;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/KeyValuePair.idl b/schemas/omgidl/foxglove/KeyValuePair.idl
new file mode 100644
index 00000000..89e8e3d5
--- /dev/null
+++ b/schemas/omgidl/foxglove/KeyValuePair.idl
@@ -0,0 +1,14 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A key with its associated value
+struct KeyValuePair {
+  // Key
+  string key;
+
+  // Value
+  string value;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/LaserScan.idl b/schemas/omgidl/foxglove/LaserScan.idl
new file mode 100644
index 00000000..08df8245
--- /dev/null
+++ b/schemas/omgidl/foxglove/LaserScan.idl
@@ -0,0 +1,32 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Pose.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A single scan from a planar laser range-finder
+struct LaserScan {
+  // Timestamp of scan
+  Time timestamp;
+
+  // Frame of reference
+  string frame_id;
+
+  // Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction
+  Pose pose;
+
+  // Bearing of first point, in radians
+  double start_angle;
+
+  // Bearing of last point, in radians
+  double end_angle;
+
+  // Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
+  sequence<double> ranges;
+
+  // Intensity of detections
+  sequence<double> intensities;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/LinePrimitive.idl b/schemas/omgidl/foxglove/LinePrimitive.idl
new file mode 100644
index 00000000..4f032040
--- /dev/null
+++ b/schemas/omgidl/foxglove/LinePrimitive.idl
@@ -0,0 +1,39 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/LineType.idl"
+#include "foxglove/Point3.idl"
+#include "foxglove/Pose.idl"
+
+module foxglove {
+
+// A primitive representing a series of points connected by lines
+struct LinePrimitive {
+  // Drawing primitive to use for lines
+  LineType type;
+
+  // Origin of lines relative to reference frame
+  Pose pose;
+
+  // Line thickness
+  double thickness;
+
+  // Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+  boolean scale_invariant;
+
+  // Points along the line
+  sequence<Point3> points;
+
+  // Solid color to use for the whole line. One of `color` or `colors` must be provided.
+  Color color;
+
+  // Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+  sequence<Color> colors;
+
+  // Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+  // 
+  // If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+  sequence<uint32> indices;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/LineType.idl b/schemas/omgidl/foxglove/LineType.idl
new file mode 100644
index 00000000..35e8259a
--- /dev/null
+++ b/schemas/omgidl/foxglove/LineType.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// An enumeration indicating how input points should be interpreted to create lines
+enum LineType {
+  // Connected line segments: 0-1, 1-2, ..., (n-1)-n
+  // Value: 0
+  LINE_STRIP,
+
+  // Closed polygon: 0-1, 1-2, ..., (n-1)-n, n-0
+  // Value: 1
+  LINE_LOOP,
+
+  // Individual line segments: 0-1, 2-3, 4-5, ...
+  // Value: 2
+  LINE_LIST
+};
+
+};
diff --git a/schemas/omgidl/foxglove/LocationFix.idl b/schemas/omgidl/foxglove/LocationFix.idl
new file mode 100644
index 00000000..b8ed2d22
--- /dev/null
+++ b/schemas/omgidl/foxglove/LocationFix.idl
@@ -0,0 +1,32 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/PositionCovarianceType.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A navigation satellite fix for any Global Navigation Satellite System
+struct LocationFix {
+  // Timestamp of the message
+  Time timestamp;
+
+  // Frame for the sensor. Latitude and longitude readings are at the origin of the frame.
+  string frame_id;
+
+  // Latitude in degrees
+  double latitude;
+
+  // Longitude in degrees
+  double longitude;
+
+  // Altitude in meters
+  double altitude;
+
+  // Position covariance (m^2) defined relative to a tangential plane through the reported position. The components are East, North, and Up (ENU), in row-major order.
+  double position_covariance[9];
+
+  // If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.
+  PositionCovarianceType position_covariance_type;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Log.idl b/schemas/omgidl/foxglove/Log.idl
new file mode 100644
index 00000000..5d7b4816
--- /dev/null
+++ b/schemas/omgidl/foxglove/Log.idl
@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/LogLevel.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A log message
+struct Log {
+  // Timestamp of log message
+  Time timestamp;
+
+  // Log level
+  LogLevel level;
+
+  // Log message
+  string message;
+
+  // Process or node name
+  string name;
+
+  // Filename
+  string file;
+
+  // Line number in the file
+  uint32 line;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/LogLevel.idl b/schemas/omgidl/foxglove/LogLevel.idl
new file mode 100644
index 00000000..f97e3689
--- /dev/null
+++ b/schemas/omgidl/foxglove/LogLevel.idl
@@ -0,0 +1,26 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// Log level
+enum LogLevel {
+  // Value: 0
+  UNKNOWN,
+
+  // Value: 1
+  DEBUG,
+
+  // Value: 2
+  INFO,
+
+  // Value: 3
+  WARNING,
+
+  // Value: 4
+  ERROR,
+
+  // Value: 5
+  FATAL
+};
+
+};
diff --git a/schemas/omgidl/foxglove/ModelPrimitive.idl b/schemas/omgidl/foxglove/ModelPrimitive.idl
new file mode 100644
index 00000000..71f75bd3
--- /dev/null
+++ b/schemas/omgidl/foxglove/ModelPrimitive.idl
@@ -0,0 +1,33 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A primitive representing a 3D model file loaded from an external URL or embedded data
+struct ModelPrimitive {
+  // Origin of model relative to reference frame
+  Pose pose;
+
+  // Scale factor to apply to the model along each axis
+  Vector3 scale;
+
+  // Solid color to use for the whole model if `override_color` is true.
+  Color color;
+
+  // Whether to use the color specified in `color` instead of any materials embedded in the original model.
+  boolean override_color;
+
+  // URL pointing to model file. One of `url` or `data` should be provided.
+  string url;
+
+  // [Media type](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types) of embedded model (e.g. `model/gltf-binary`). Required if `data` is provided instead of `url`. Overrides the inferred media type if `url` is provided.
+  string media_type;
+
+  // Embedded model. One of `url` or `data` should be provided. If `data` is provided, `media_type` must be set to indicate the type of the data.
+  sequence<uint8> data;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/NumericType.idl b/schemas/omgidl/foxglove/NumericType.idl
new file mode 100644
index 00000000..329640f6
--- /dev/null
+++ b/schemas/omgidl/foxglove/NumericType.idl
@@ -0,0 +1,35 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// Numeric type
+enum NumericType {
+  // Value: 0
+  UNKNOWN,
+
+  // Value: 1
+  UINT8,
+
+  // Value: 2
+  INT8,
+
+  // Value: 3
+  UINT16,
+
+  // Value: 4
+  INT16,
+
+  // Value: 5
+  UINT32,
+
+  // Value: 6
+  INT32,
+
+  // Value: 7
+  FLOAT32,
+
+  // Value: 8
+  FLOAT64
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PackedElementField.idl b/schemas/omgidl/foxglove/PackedElementField.idl
new file mode 100644
index 00000000..206cc106
--- /dev/null
+++ b/schemas/omgidl/foxglove/PackedElementField.idl
@@ -0,0 +1,19 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/NumericType.idl"
+
+module foxglove {
+
+// A field present within each element in a byte array of packed elements.
+struct PackedElementField {
+  // Name of the field
+  string name;
+
+  // Byte offset from start of data buffer
+  uint32 offset;
+
+  // Type of data in the field. Integers are stored using little-endian byte order.
+  NumericType type;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Point2.idl b/schemas/omgidl/foxglove/Point2.idl
new file mode 100644
index 00000000..9102a7dc
--- /dev/null
+++ b/schemas/omgidl/foxglove/Point2.idl
@@ -0,0 +1,14 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A point representing a position in 2D space
+struct Point2 {
+  // x coordinate position
+  double x;
+
+  // y coordinate position
+  double y;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Point3.idl b/schemas/omgidl/foxglove/Point3.idl
new file mode 100644
index 00000000..3551184b
--- /dev/null
+++ b/schemas/omgidl/foxglove/Point3.idl
@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A point representing a position in 3D space
+struct Point3 {
+  // x coordinate position
+  double x;
+
+  // y coordinate position
+  double y;
+
+  // z coordinate position
+  double z;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PointCloud.idl b/schemas/omgidl/foxglove/PointCloud.idl
new file mode 100644
index 00000000..38e07b9c
--- /dev/null
+++ b/schemas/omgidl/foxglove/PointCloud.idl
@@ -0,0 +1,30 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/PackedElementField.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
+struct PointCloud {
+  // Timestamp of point cloud
+  Time timestamp;
+
+  // Frame of reference
+  string frame_id;
+
+  // The origin of the point cloud relative to the frame of reference
+  Pose pose;
+
+  // Number of bytes between points in the `data`
+  uint32 point_stride;
+
+  // Fields in `data`. At least 2 coordinate fields from `x`, `y`, and `z` are required for each point's position; `red`, `green`, `blue`, and `alpha` are optional for customizing each point's color.
+  sequence<PackedElementField> fields;
+
+  // Point data, interpreted using `fields`
+  sequence<uint8> data;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PointsAnnotation.idl b/schemas/omgidl/foxglove/PointsAnnotation.idl
new file mode 100644
index 00000000..e16a971c
--- /dev/null
+++ b/schemas/omgidl/foxglove/PointsAnnotation.idl
@@ -0,0 +1,34 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Point2.idl"
+#include "foxglove/PointsAnnotationType.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// An array of points on a 2D image
+struct PointsAnnotation {
+  // Timestamp of annotation
+  Time timestamp;
+
+  // Type of points annotation to draw
+  PointsAnnotationType type;
+
+  // Points in 2D image coordinates (pixels)
+  sequence<Point2> points;
+
+  // Outline color
+  Color outline_color;
+
+  // Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`.
+  sequence<Color> outline_colors;
+
+  // Fill color
+  Color fill_color;
+
+  // Stroke thickness in pixels
+  double thickness;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PointsAnnotationType.idl b/schemas/omgidl/foxglove/PointsAnnotationType.idl
new file mode 100644
index 00000000..be7a53ce
--- /dev/null
+++ b/schemas/omgidl/foxglove/PointsAnnotationType.idl
@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// Type of points annotation
+enum PointsAnnotationType {
+  // Value: 0
+  UNKNOWN,
+
+  // Individual points: 0, 1, 2, ...
+  // Value: 1
+  POINTS,
+
+  // Closed polygon: 0-1, 1-2, ..., (n-1)-n, n-0
+  // Value: 2
+  LINE_LOOP,
+
+  // Connected line segments: 0-1, 1-2, ..., (n-1)-n
+  // Value: 3
+  LINE_STRIP,
+
+  // Individual line segments: 0-1, 2-3, 4-5, ...
+  // Value: 4
+  LINE_LIST
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Pose.idl b/schemas/omgidl/foxglove/Pose.idl
new file mode 100644
index 00000000..b049dabc
--- /dev/null
+++ b/schemas/omgidl/foxglove/Pose.idl
@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Quaternion.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A position and orientation for an object or reference frame in 3D space
+struct Pose {
+  // Point denoting position in 3D space
+  Vector3 position;
+
+  // Quaternion denoting orientation in 3D space
+  Quaternion orientation;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PoseInFrame.idl b/schemas/omgidl/foxglove/PoseInFrame.idl
new file mode 100644
index 00000000..cb2be979
--- /dev/null
+++ b/schemas/omgidl/foxglove/PoseInFrame.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Pose.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A timestamped pose for an object or reference frame in 3D space
+struct PoseInFrame {
+  // Timestamp of pose
+  Time timestamp;
+
+  // Frame of reference for pose position and orientation
+  string frame_id;
+
+  // Pose in 3D space
+  Pose pose;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PosesInFrame.idl b/schemas/omgidl/foxglove/PosesInFrame.idl
new file mode 100644
index 00000000..863ace1e
--- /dev/null
+++ b/schemas/omgidl/foxglove/PosesInFrame.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Pose.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// An array of timestamped poses for an object or reference frame in 3D space
+struct PosesInFrame {
+  // Timestamp of pose
+  Time timestamp;
+
+  // Frame of reference for pose position and orientation
+  string frame_id;
+
+  // Poses in 3D space
+  sequence<Pose> poses;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/PositionCovarianceType.idl b/schemas/omgidl/foxglove/PositionCovarianceType.idl
new file mode 100644
index 00000000..a0d7676f
--- /dev/null
+++ b/schemas/omgidl/foxglove/PositionCovarianceType.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// Type of position covariance
+enum PositionCovarianceType {
+  // Value: 0
+  UNKNOWN,
+
+  // Value: 1
+  APPROXIMATED,
+
+  // Value: 2
+  DIAGONAL_KNOWN,
+
+  // Value: 3
+  KNOWN
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Quaternion.idl b/schemas/omgidl/foxglove/Quaternion.idl
new file mode 100644
index 00000000..adf39af6
--- /dev/null
+++ b/schemas/omgidl/foxglove/Quaternion.idl
@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space
+struct Quaternion {
+  // x value
+  double x;
+
+  // y value
+  double y;
+
+  // z value
+  double z;
+
+  // w value
+  @default(1.0)
+  double w;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/RawImage.idl b/schemas/omgidl/foxglove/RawImage.idl
new file mode 100644
index 00000000..910cde34
--- /dev/null
+++ b/schemas/omgidl/foxglove/RawImage.idl
@@ -0,0 +1,33 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A raw image
+struct RawImage {
+  // Timestamp of image
+  Time timestamp;
+
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id;
+
+  // Image width
+  uint32 width;
+
+  // Image height
+  uint32 height;
+
+  // Encoding of the raw image data
+  // 
+  // Supported values: `8UC1`, `8UC3`, `16UC1`, `32FC1`, `bayer_bggr8`, `bayer_gbrg8`, `bayer_grbg8`, `bayer_rggb8`, `bgr8`, `bgra8`, `mono8`, `mono16`, `rgb8`, `rgba8`, `uyvy` or `yuv422`, `yuyv` or `yuv422_yuy2`
+  string encoding;
+
+  // Byte length of a single row
+  uint32 step;
+
+  // Raw image data
+  sequence<uint8> data;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/SceneEntity.idl b/schemas/omgidl/foxglove/SceneEntity.idl
new file mode 100644
index 00000000..8c123923
--- /dev/null
+++ b/schemas/omgidl/foxglove/SceneEntity.idl
@@ -0,0 +1,62 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/ArrowPrimitive.idl"
+#include "foxglove/CubePrimitive.idl"
+#include "foxglove/CylinderPrimitive.idl"
+#include "foxglove/Duration.idl"
+#include "foxglove/KeyValuePair.idl"
+#include "foxglove/LinePrimitive.idl"
+#include "foxglove/ModelPrimitive.idl"
+#include "foxglove/SpherePrimitive.idl"
+#include "foxglove/TextPrimitive.idl"
+#include "foxglove/Time.idl"
+#include "foxglove/TriangleListPrimitive.idl"
+
+module foxglove {
+
+// A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.
+struct SceneEntity {
+  // Timestamp of the entity
+  Time timestamp;
+
+  // Frame of reference
+  string frame_id;
+
+  // Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`.
+  string id;
+
+  // Length of time (relative to `timestamp`) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted.
+  Duration lifetime;
+
+  // Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in `frame_id` as it moves relative to the fixed frame (true)
+  boolean frame_locked;
+
+  // Additional user-provided metadata associated with the entity. Keys must be unique.
+  sequence<KeyValuePair> metadata;
+
+  // Arrow primitives
+  sequence<ArrowPrimitive> arrows;
+
+  // Cube primitives
+  sequence<CubePrimitive> cubes;
+
+  // Sphere primitives
+  sequence<SpherePrimitive> spheres;
+
+  // Cylinder primitives
+  sequence<CylinderPrimitive> cylinders;
+
+  // Line primitives
+  sequence<LinePrimitive> lines;
+
+  // Triangle list primitives
+  sequence<TriangleListPrimitive> triangles;
+
+  // Text primitives
+  sequence<TextPrimitive> texts;
+
+  // Model primitives
+  sequence<ModelPrimitive> models;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/SceneEntityDeletion.idl b/schemas/omgidl/foxglove/SceneEntityDeletion.idl
new file mode 100644
index 00000000..a0b45b72
--- /dev/null
+++ b/schemas/omgidl/foxglove/SceneEntityDeletion.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/SceneEntityDeletionType.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// Command to remove previously published entities
+struct SceneEntityDeletion {
+  // Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.
+  Time timestamp;
+
+  // Type of deletion action to perform
+  SceneEntityDeletionType type;
+
+  // Identifier which must match if `type` is `MATCHING_ID`.
+  string id;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/SceneEntityDeletionType.idl b/schemas/omgidl/foxglove/SceneEntityDeletionType.idl
new file mode 100644
index 00000000..5ac4dbd6
--- /dev/null
+++ b/schemas/omgidl/foxglove/SceneEntityDeletionType.idl
@@ -0,0 +1,16 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// An enumeration indicating which entities should match a SceneEntityDeletion command
+enum SceneEntityDeletionType {
+  // Delete the existing entity on the same topic that has the provided `id`
+  // Value: 0
+  MATCHING_ID,
+
+  // Delete all existing entities on the same topic
+  // Value: 1
+  ALL
+};
+
+};
diff --git a/schemas/omgidl/foxglove/SceneUpdate.idl b/schemas/omgidl/foxglove/SceneUpdate.idl
new file mode 100644
index 00000000..5ed26a6a
--- /dev/null
+++ b/schemas/omgidl/foxglove/SceneUpdate.idl
@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/SceneEntity.idl"
+#include "foxglove/SceneEntityDeletion.idl"
+
+module foxglove {
+
+// An update to the entities displayed in a 3D scene
+struct SceneUpdate {
+  // Scene entities to delete
+  sequence<SceneEntityDeletion> deletions;
+
+  // Scene entities to add or replace
+  sequence<SceneEntity> entities;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/SpherePrimitive.idl b/schemas/omgidl/foxglove/SpherePrimitive.idl
new file mode 100644
index 00000000..0ad794d0
--- /dev/null
+++ b/schemas/omgidl/foxglove/SpherePrimitive.idl
@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+#include "foxglove/Vector3.idl"
+
+module foxglove {
+
+// A primitive representing a sphere or ellipsoid
+struct SpherePrimitive {
+  // Position of the center of the sphere and orientation of the sphere
+  Pose pose;
+
+  // Size (diameter) of the sphere along each axis
+  Vector3 size;
+
+  // Color of the sphere
+  Color color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/TextAnnotation.idl b/schemas/omgidl/foxglove/TextAnnotation.idl
new file mode 100644
index 00000000..fadee057
--- /dev/null
+++ b/schemas/omgidl/foxglove/TextAnnotation.idl
@@ -0,0 +1,31 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Point2.idl"
+#include "foxglove/Time.idl"
+
+module foxglove {
+
+// A text label on a 2D image
+struct TextAnnotation {
+  // Timestamp of annotation
+  Time timestamp;
+
+  // Bottom-left origin of the text label in 2D image coordinates (pixels)
+  Point2 position;
+
+  // Text to display
+  string text;
+
+  // Font size in pixels
+  @default(12.0)
+  double font_size;
+
+  // Text color
+  Color text_color;
+
+  // Background fill color
+  Color background_color;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/TextPrimitive.idl b/schemas/omgidl/foxglove/TextPrimitive.idl
new file mode 100644
index 00000000..113660d1
--- /dev/null
+++ b/schemas/omgidl/foxglove/TextPrimitive.idl
@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Pose.idl"
+
+module foxglove {
+
+// A primitive representing a text label
+struct TextPrimitive {
+  // Position of the center of the text box and orientation of the text. Identity orientation means the text is oriented in the xy-plane and flows from -x to +x.
+  Pose pose;
+
+  // Whether the text should respect `pose.orientation` (false) or always face the camera (true)
+  boolean billboard;
+
+  // Font size (height of one line of text)
+  double font_size;
+
+  // Indicates whether `font_size` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+  boolean scale_invariant;
+
+  // Color of the text
+  Color color;
+
+  // Text
+  string text;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Time.idl b/schemas/omgidl/foxglove/Time.idl
new file mode 100644
index 00000000..75863f03
--- /dev/null
+++ b/schemas/omgidl/foxglove/Time.idl
@@ -0,0 +1,8 @@
+module foxglove {
+
+struct Time {
+  uint32 sec;
+  uint32 nsec;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/TriangleListPrimitive.idl b/schemas/omgidl/foxglove/TriangleListPrimitive.idl
new file mode 100644
index 00000000..96fbb3d3
--- /dev/null
+++ b/schemas/omgidl/foxglove/TriangleListPrimitive.idl
@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+#include "foxglove/Color.idl"
+#include "foxglove/Point3.idl"
+#include "foxglove/Pose.idl"
+
+module foxglove {
+
+// A primitive representing a set of triangles or a surface tiled by triangles
+struct TriangleListPrimitive {
+  // Origin of triangles relative to reference frame
+  Pose pose;
+
+  // Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...)
+  sequence<Point3> points;
+
+  // Solid color to use for the whole shape. One of `color` or `colors` must be provided.
+  Color color;
+
+  // Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+  sequence<Color> colors;
+
+  // Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+  // 
+  // If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+  sequence<uint32> indices;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Vector2.idl b/schemas/omgidl/foxglove/Vector2.idl
new file mode 100644
index 00000000..967fb80d
--- /dev/null
+++ b/schemas/omgidl/foxglove/Vector2.idl
@@ -0,0 +1,16 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A vector in 2D space that represents a direction only
+struct Vector2 {
+  // x coordinate length
+  @default(1.0)
+  double x;
+
+  // y coordinate length
+  @default(1.0)
+  double y;
+};
+
+};
diff --git a/schemas/omgidl/foxglove/Vector3.idl b/schemas/omgidl/foxglove/Vector3.idl
new file mode 100644
index 00000000..970db2a6
--- /dev/null
+++ b/schemas/omgidl/foxglove/Vector3.idl
@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+module foxglove {
+
+// A vector in 3D space that represents a direction only
+struct Vector3 {
+  // x coordinate length
+  @default(1.0)
+  double x;
+
+  // y coordinate length
+  @default(1.0)
+  double y;
+
+  // z coordinate length
+  @default(1.0)
+  double z;
+};
+
+};
diff --git a/scripts/updateGeneratedFiles.ts b/scripts/updateGeneratedFiles.ts
index bff8efc3..75416347 100644
--- a/scripts/updateGeneratedFiles.ts
+++ b/scripts/updateGeneratedFiles.ts
@@ -13,6 +13,7 @@ import {
 } from "../internal/generateFlatbufferSchema";
 import { generateJsonSchema } from "../internal/generateJsonSchema";
 import { generateMarkdown } from "../internal/generateMarkdown";
+import { DURATION_IDL, TIME_IDL, generateOmgIdl } from "../internal/generateOmgIdl";
 import { generateProto } from "../internal/generateProto";
 import { foxgloveEnumSchemas, foxgloveMessageSchemas } from "../internal/schemas";
 
@@ -107,6 +108,24 @@ async function main({ outDir, rosOutDir }: { outDir: string; rosOutDir: string }
     }
   });
 
+  await logProgress("Generating OMG IDL definitions", async () => {
+    await fs.mkdir(path.join(outDir, "omgidl", "foxglove"), { recursive: true });
+    await fs.writeFile(path.join(outDir, "omgidl", "foxglove", "Time.idl"), TIME_IDL);
+    await fs.writeFile(path.join(outDir, "omgidl", "foxglove", "Duration.idl"), DURATION_IDL);
+    for (const schema of Object.values(foxgloveMessageSchemas)) {
+      await fs.writeFile(
+        path.join(outDir, "omgidl", "foxglove", `${schema.name}.idl`),
+        generateOmgIdl(schema),
+      );
+    }
+    for (const schema of Object.values(foxgloveEnumSchemas)) {
+      await fs.writeFile(
+        path.join(outDir, "omgidl", "foxglove", `${schema.name}.idl`),
+        generateOmgIdl(schema),
+      );
+    }
+  });
+
   await logProgress("Generating README.md", async () => {
     await fs.writeFile(
       path.join(outDir, "README.md"),
diff --git a/yarn.lock b/yarn.lock
index fb89dc69..9f533e4b 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -412,6 +412,13 @@
   resolved "https://registry.yarnpkg.com/@foxglove/message-definition/-/message-definition-0.2.0.tgz#e31922e58e57d224717bcfbd20d3cbaad709dc6b"
   integrity sha512-IQHIGCvBZR8GIua9nEpS+hsMF3gm1bfbrrnjG0rgtcFBWiNuKbzx4vIP8OIwDC+8wtwcFdfJhf4Vp5TPFiUUcQ==
 
+"@foxglove/omgidl-parser@^0.2.0":
+  version "0.2.0"
+  resolved "https://registry.yarnpkg.com/@foxglove/omgidl-parser/-/omgidl-parser-0.2.0.tgz#d71bbc0c789d713d166da3d02b4b9cd1e401313f"
+  integrity sha512-krnRJg8xnpItKNbDi8jYSIzkB+H5nC8FbrQtpHdWcX5eSrTTka2VIHGF2ZKqL1mRIuMgKt/DvYAhU+H0szYh+g==
+  dependencies:
+    tslib "^2"
+
 "@foxglove/rosmsg-msgs-common@^3.0.0":
   version "3.0.0"
   resolved "https://registry.yarnpkg.com/@foxglove/rosmsg-msgs-common/-/rosmsg-msgs-common-3.0.0.tgz#d5f09b9e1feb43eb21aedc12ab23bc47787558e4"
@@ -3774,6 +3781,11 @@ tslib@^1.8.1:
   resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.14.1.tgz#cf2d38bdc34a134bcaf1091c41f6619e2f672d00"
   integrity sha512-Xni35NKzjgMrwevysHTCArtLDpPvye8zV/0E4EyYn43P7/7qvQwPh9BGkHewbMulVntbigmcT7rdX3BNo9wRJg==
 
+tslib@^2:
+  version "2.6.2"
+  resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.6.2.tgz#703ac29425e7b37cd6fd456e92404d46d1f3e4ae"
+  integrity sha512-AEYxH93jGFPn/a2iVAwW87VuUIkR1FVUKB77NwMF7nBTDkDrrT/Hpt/IrCJ0QXhW27jTBDcf5ZY7w6RiqTMw2Q==
+
 tslib@^2.5.0:
   version "2.5.0"
   resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.5.0.tgz#42bfed86f5787aeb41d031866c8f402429e0fddf"