ROS2 send image to fastRTPS

[golizheh]

Hej David,

I want to send message from ROS2 (cam2image) at the ROS2 demo exmaple to fastRTPS.

I have found IDL for this exmaple which is called Image.idl , Then I want to use fastrtpsgen to generate files for public and subscriber with IDL, when I run fastrtpsgen -example x64Linux2.6gcc Image.idl

It is return back me an error which is Uint is undefined. My Image.IDL is looks like below: // generated from rosidl_adapter/resource/msg.idl.em // with input from sensor_msgs/msg/Image.msg

module sensor_msgs { module msg { /*

• This message contains an uncompressed image

• (0, 0) is at top-left corner of image / struct Image { /

  • Header timestamp should be acquisition time of image
  • Header frame_id should be optical frame of camera
  • origin of frame should be optical center of cameara
  • +x should point to the right in the image
  • +y should point down in the image
  • +z should point into to plane of the image
  • If the frame_id here and the frame_id of the CameraInfo
  • message associated with the image conflict

  • the behavior is undefined */ std_msgs::msg::Header header;

    /*

  • image height, that is, number of rows */ uint32 height;

    /*

  • image width, that is, number of columns */ uint32 width;

    /*

  • The legal values for encoding are in file src/image_encodings.cpp
  • If you want to standardize a new string format, join
  • ros-users@lists.ros.org and send an email proposing a new encoding.
  • Encoding of pixels -- channel meaning, ordering, size

  • taken from the list of strings in include/sensor_msgs/image_encodings.h */ string encoding;

    /*

  • is this data bigendian? */ uint8 is_bigendian;

    /*

  • Full row length in bytes */ uint32 step;

    /*

  • actual matrix data, size is (step rows) / sequence data; }; }; };

Is there any help

[woutervdhof]

Hi golizheh,

I ran into the same problem. It's a while back, but I think you can fix this by replacing uint32 by 'unsigned long'.