alexMarFar / serializer_pkg

ROS2 package for message serialization in both rclpy and rclcpp

serializer_pkg

ROS2 package for message serialization in both rclpy and rclcpp.

Available for:

• sensor_msgs:
  • Image
  • CameraInfo
  • CompressedImage
  • PointCloud2
• stereo_msgs:
  • DisparityImage

Usage

1. Clone the repository in your workspace

cd ~/ros2_ws/src
git clone https://github.com/alexMarFar/serializer_pkg.git

2. Update the topic_name in the launch file.

3. Build the package

cd ~/ros2_ws/
colcon build --packages-up-to serializer_pkg
source install/setup.bash

4. Launch the nodes

• For Image (sensor_msgs)

ros2 launch serializer_pkg image.launch.py

• For CameraInfo (sensor_msgs)

ros2 launch serializer_pkg camera_info.launch.py

• For CompressedImage (sensor_msgs)

ros2 launch serializer_pkg compressed_image.launch.py

• For DisparityImage (stereo_msgs)

ros2 launch serializer_pkg disparity_image.launch.py

• For PointCloud2 (sensor_msgs)

ros2 launch serializer_pkg point_cloud2.launch.py