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robcog-iai / UROSBridge

Unreal ROS Bridge topic / service communication via websocket
http://robcog.org/
BSD 3-Clause "New" or "Revised" License
52 stars 37 forks source link

Add support for sensor_msgs/*Image #26

Closed aaronsnoswell closed 6 years ago

aaronsnoswell commented 6 years ago

This PR completes #25.

In my ongoing quest to render ROS pointclouds in UE4, I've discovered that transporting raw Point Clouds is too expensive (surprise, surprise). As such, transporting compressed RGB+D images seems to be the way around this. This PR adds support for the ROS image message definitions to the project.

aaronsnoswell commented 6 years ago

I missed some upstream changes, one of which included an implementation of sensor_msgs/Image :P So I wasted some time there, but at least this now adds support for CompressedImage. I've updated the PR now - shouldn't be any conflicts now.

aaronsnoswell commented 6 years ago

Hello again. I'm just looking now and it seems like sensor_msgs/Image AND sensor_msgs/CompressedImage already exist in the repo master branch! I'm not sure how I missed this. Are these both functional at this time? If so, please feel free to close this PR without pulling :)

andreihaidu commented 6 years ago

:) I am hoping they work, I haven't personally tested them. You can resurrect the pull request if they don't