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ros-drivers / transport_drivers

A set of ROS2 drivers for transport-layer protocols.
Apache License 2.0
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Fix the converter Converter between `std_msgs::msg::UInt8MultiArray` and `std::vector<uint8_t>` #73

Closed chenjunnn closed 2 years ago

chenjunnn commented 2 years ago
  1. Fix #72
  2. Remove redundant dependency example_interfaces

I think the msg published should not copy the whole 2048 size buffer in serial_port, so I use the bytes_transferred and memcpy to copy the useful data.

And here is the test I've done: Read from ROS: image

Transmit from ROS: image

JWhitleyWork commented 2 years ago

@chenjun00 While I agree that these changes are necessary, this is a "breaking change" as it modifies the public API of serial_driver, which is used by other projects (specifically Autoware.Auto). There are also breaking changes requested in #65 so maybe we should just roll these into a new major release? If so, it will be a while before this gets released to the build farm.

chenjunnn commented 2 years ago

@JWhitleyWork Sure. But I wonder how long it will take to the next release, cuz my own project is going to use serial_driver soon.