Translate basic ROS types to Rerun

[esteve]

The bridge should translate all types that it receives from ROS and default to a basic translation if nothing specific can be found. For now we will only translate basic types such as std_msgs and geometry_msg:

https://github.com/ros2/common_interfaces/tree/rolling/std_msgs/msg

https://github.com/ros2/common_interfaces/tree/rolling/geometry_msgs/msg

Depends on #2 #9

[esteve]

@nikolausWest @jleibs feel free to update this ticket with the subset of ROS messages you guys think should be available for the first release. Thanks.

[jleibs]

Here's my proposal for the starting messages that are the most natural to translate to meaningful Rerun equivalents.

From std_msgs:

• Any Float/Int type -> Scalar
• String -> Text

From geometry_msgs:

• Point -> Points3D (mono)
• Pose -> Transform3D
• Transform -> Transform3D
• Quaternion -> Transform3D (only quaternion field used)
• Polygon -> SeriesLine

From sensor_msgs:

• PointCloud/PointCloud2 -> Points3D
• CompressedImage -> EncodedImage
• Image -> Image
• CameraInfo -> Pinhole
• Imu -> Multiple Scalars

From visualization_msgs:

• Marker. This is a super flexible type that needs to be translated into one of the appropriate (Arrow, Box, Sphere, Line, Points, Mesh) primitive.

[esteve]

@jleibs thanks!