Remove uses of LazyMessageReader #29
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jhurliman
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Oct 4, 2023
snosenzo
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Oct 5, 2023
pezy
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Oct 25, 2023
**User-Facing Changes** None **Description** Depends on foxglove/ros1#29 Resolves FG-5044 The ROS 1 native and Rosbridge sources were the only places using "lazy" message reading, which required a `toJSON` dance before sending messages to workers. There are several places we can remove this if we stop using lazy message reading.
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Public-Facing Changes
Received messages are now fully deserialized as JS objects rather than using
@foxglove/rosmsg-serialization'sLazyMessageReader.Description
Resolves FG-5047
Ultimately we did not find that lazy reading provided a performance benefit that justifies the downstream complexity of inconsistencies between data sources. The Studio app will likely need a deeper architectural change to support more efficient message processing across worker threads, rather than just swapping out objects for lazy objects.