qrb_ros_transport

Quickstart

1. Add dependencies in your package.xml

   <depend>qrb_ros_transport</depend>
   

2. Use ament_cmake_auto to find dependencies in your CMakeLists.txt

   find_package(ament_cmake_auto REQUIRED)
   ament_auto_find_build_dependencies()
   

3. Using adapted types in your ROS node

   #include "qrb_ros_transport/type/image.hpp"
   
   // create message
   auto msg = std::make_unique<qrb_ros::transport::type::Image>();
   msg->header = std_msgs::msg::Header();
   msg->width = width;
   msg->height = height;
   msg->encoding = "nv12";
   
   // alloc dmabuf for message
   auto dmabuf = lib_mem_dmabuf::DmaBuffer::alloc(size, "/dev/dma_heap/system");
   // ... set data to dmabuf
   msg->dmabuf = dmabuf;
   
   // publish message
   pub->publish(std::move(msg));
   

Supported Types

The following table lists current supported types:

QRB ROS Transport Type	ROS Interface
qrb_ros::transport::type::Image	sensor_msgs::msg::Image
qrb_ros::transport::type::Imu	sensor_msgs::msg::Imu