cu-ros2-payloads 1.1.1

ROS2 Payloads that can be constructed from/to Copper Payloads for compatibility
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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

ROS 2 compatibility features

Enable the mutually exclusive humble or jazzy feature when targeting that ROS 2 distribution. Both profiles use the legacy image encoding names supported by their released cv_bridge versions and reject image layouts those versions cannot consume. Only the humble profile disables ROS type hashes.

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.