Copper ROS2 payloads

Those are the payloads for Copper (see crate cu29).

Types that are supported are:

• std_msgs/Bool <-> bool
• std_msgs/Int8 <-> i8
• std_msgs/Int16 <-> i16
• std_msgs/Int32 <-> i32
• std_msgs/Int64 <-> i64
• std_msgs/UInt8 <-> u8
• std_msgs/UInt16 <-> u16
• std_msgs/UInt32 <-> u32
• std_msgs/UInt64 <-> u64
• std_msgs/Float32 <-> f32
• std_msgs/Float64 <-> f64
• std_msgs/String <-> String
• sensor_msgs/Image <-> CuImage<Vec<u8>>
• sensor_msgs/PointCloud2 <-> PointCloudSoa<N>
• sensor_msgs/PointCloud2 <-> PointCloudSoaHandle<N> (preferred for large clouds at the bridge boundary)
• sensor_msgs/Imu <-> ImuPayload (accel/gyro mapped; temperature defaults to 0°C when decoding from ROS)
• sensor_msgs/MagneticField <-> MagnetometerPayload

Adding new payloads (feel free to contribute!)

To add a new payload, we pregenerated all the RIHS01 in the RIHS payloads file from Jazzy.

Added the script extract_rihs01.sh to extract the RIHS01 from Jazzy. As an alternation you can do:

ros2 run rmw_zenoh_cpp rmw_zenohd
ros2 topic echo /FOO std_msgs/String
ros2 topic info /FOO -v

Justfile command

• just ros-rihs01-hashes — list ROS2 RIHS01 type hashes from /opt/ros/jazzy/share.