defunctzombie · April 1, 2022 15:00 · Apr 1, 2022
diff --git a/node.ts b/node.ts
@@ -0,0 +1,32 @@
+// The ./types module provides helper types for your Input events and messages.
+import { Input, Message } from "./types";
+
+// Your node can output well-known message types, any of your custom message types, or
+// complete custom message types.
+//
+// Use `Message` to access your data source types or well-known types:
+// type Twist = Message<"geometry_msgs/Twist">;
+//
+// Conventionally, it's common to make a _type alias_ for your node's output type
+// and use that type name as the return type for your node function.
+// Here we've called the type `Output` but you can pick any type name.
+type PolygonStamped = Message<"geometry_msgs/PolygonStamped">
+
+// These are the topics your node "subscribes" to. Studio will invoke your node function
+// when any message is received on one of these topics.
+export const inputs = ["/SampleInputTopic"];
+
+// Any output your node produces is "published" to this topic. Published messages are only visible within Studio, not to your original data source.
+export const output = "/studio_node/SampleOutputTopic";
+
+// This function is called with messages from your input topics.
+// The first argument is an event with the topic, receive time, and message.
+// Use the `Input<...>` helper to get the correct event type for your input topic messages.
+export default function node(event: Input<"/SampleInputTopic">): PolygonStamped {
+  const msg = event.message;
+
+  return {
+    header: msg.header,
+    polygon: msg.custom_field_name_array[0].to_be_visualized_polygon,
+  };
+};
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