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

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merged 2 commits into from
Aug 13, 2019
Merged

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

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de4cb28
added cbor compression for LaserScan, OccupancyGrid, and PointCloud
tocttou Aug 8, 2019
96a5493
Merge branch 'devel' of https://github.com/rapyuta-robotics/amphion i…
tocttou Aug 12, 2019
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5 changes: 3 additions & 2 deletions src/core/index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ class Core {
}

changeTopic(topicName, type, autoSubscribe = true) {
const { queueSize, throttleRate } = this.options;
const { compression, queueSize, throttleRate } = this.options;

if (autoSubscribe) {
this.unsubscribe();
Expand All @@ -71,13 +71,14 @@ class Core {
this.messageType = type || this.messageType;
this.topicInstances = (Array.isArray(topicName)
? topicName
: [{ name: topicName, type }]
: [{ name: topicName, messageType: type }]
).map(
({ name, messageType }) =>
new ROSLIB.Topic({
ros: this.ros,
name,
messageType,
compression: compression || 'none',
throttle_rate: throttleRate || 0,
queue_size: queueSize || 10,
}),
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6 changes: 5 additions & 1 deletion src/utils/constants.js
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Expand Up @@ -202,6 +202,7 @@ export const DEFAULT_OPTIONS_LASERSCAN = {
alpha: 1,
decayTime: 0,
queueSize: 10,
compression: 'cbor',
colorTransformer: COLOR_TRANSFORMERS.INTENSITY,
flatColor: '#ffffff',
...DEFAULT_OPTIONS_INTENSITY,
Expand All @@ -211,6 +212,7 @@ export const DEFAULT_OPTIONS_LASERSCAN = {
export const DEFAULT_OPTIONS_MAP = {
alpha: 1,
colorScheme: MAP_COLOR_SCHEMES.MAP,
compression: 'cbor',
drawBehind: false,
};

Expand Down Expand Up @@ -242,7 +244,9 @@ export const DEFAULT_OPTIONS_PATH = {
alpha: 1,
};

export const DEFAULT_OPTIONS_POINTCLOUD = {};
export const DEFAULT_OPTIONS_POINTCLOUD = {
compression: 'cbor',
};

export const DEFAULT_OPTIONS_POLYGON = {
color: '#ffffff',
Expand Down