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added cbor compression for LaserScan, OccupancyGrid, and PointCloud #25

merged 2 commits into from Aug 13, 2019


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commented Aug 8, 2019

For image and pointcloud types: Could not test because the viz didn't load.

Changed the compression to cbor for:

  1. PointCloud
  2. OccupancyGrid
  3. LaserScan

Others use the default JSON format as it seems to be the fastest for structured data.


  1. RobotWebTools/rosbridge_suite#367
  2. Reason to not use cbor for Marker{Array}: RobotWebTools/ros3djs#239 (comment)

For the queue_size and throttle_rate, these should be controlled by parameters passed by the user in the sidebar. Rviz does not throttle any messages by default and it can lead to unexpected results if the user is not aware of the defaults. I am creating a task to add these options.

@tocttou tocttou merged commit e99e43c into devel Aug 13, 2019

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@chaitanya-deep chaitanya-deep deleted the feature/compression branch Aug 14, 2019

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