JSON Compression for point cloud

[Weimmer]

Hi
i am doing the project with ROSBridgeLib, thanks a lot for the job what you have done.
i habe read the ROSBridge_suite that can compress the JSON to binary data, is there a way doing that with the ROSBridgeLib?
One more question, what is the different between ROSBridgeLib.cs and ROSBridgeMsg.cs this two files?
Thanks in advance.

[michaeljenkin]

When I last did work on this the compression stuff did not work at the underlying level. This may have been fixed. However, the reality is that it is trivial to swamp the communication channel with large volume data (point clouds, video, etc.). But assuming the underlying Rosbridge now does binary communication properly. ROSBridgeMsg.cs is a superclass for msg’s. It defines some common aspects of all msgs Michael

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On Oct 24, 2019, at 5:19 AM, eisenWu ***@***.***> wrote: Hi i am doing the project with ROSBridgeLib, thanks a lot for the job what you have done. i habe read the ROSBridge_suite <https://github.com/RobotWebTools/rosbridge_suite/blob/develop/ROSBRIDGE_PROTOCOL.md#344-subscribe> that can compress the JSON to binary data, is there a way doing that with the ROSBridgeLib? One more question, what is the different between ROSBridgeLib.cs and ROSBridgeMsg.cs this two files? Thanks in advance. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#14?email_source=notifications&email_token=ACOL7EXIRMYRF47IDLAHW4LQQFSANA5CNFSM4JERGXK2YY3PNVWWK3TUL52HS4DFUVEXG43VMWVGG33NNVSW45C7NFSM4HUBWQRQ>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACOL7EWMVGGU7ZGVRP4OGUDQQFSANANCNFSM4JERGXKQ>.

[Weimmer]

Hi @michaeljenkin
binary communication is a new feature as me was told, i'd like to try add the CBOR with ROSBridgeLib, i am new to programming, could you give me some help to do it?

[rcodddow]

you will need to modify the onMessage function in ROSBridgeWebSocketConnection.cs to detect when a CBOR encoded message is received and decode it. Once decoded the rest of the OnMessage function should handle the message as before