BSON is better for ROS#

[akirayou]

rosbridge is now (0.11.0 or later) supports Inf and NaN float data on bson_only_mode.
RobotWebTools/rosbridge_suite#391
It's useful for LaserScan data (It often contains Nan or Inf float data).
And also BSON is also little bit faster on binary data such as PointCloud.

I just overwrite Serialize/Deserialize function,So you can not use JSON any more.
So in this Patch,you have to launch rosbridge with bson_only_mode flag.
Like this.

<launch>
	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
		<arg name="port" value="9090"/>
		<arg name="bson_only_mode" value="true"/>
	</include>
</launch>

[MartinBischoff]

Thanks @akirayou , this is nice.
Having a BSON (de-) serialization make sense as we already discussed in #136.
However I would not want to completely replace JSON by BSON in the ROS# master branch.
There are also reasons to use JSON and I think best would be to have both options, with JSON as default.

So I'd suggest to change the Serialize method as follows (Deserialize analogous):

private static byte[] Serialize<T>(T obj, bool UseJson = true)
{
    if (UseJson)
      <existing code>
    else // if Use BSON
       <your Bson serialization>
}

Does this make sense to you?

I also find your contirbution / modifications worth mentioning in the file's header. So would you please add a comment like:

// Adding BSON (de-)seriliazation option
// <your affilitation>, 2019, <your name> (your e-mail / github account)

one line below the header of each source file that you change, similar to as we did here?

Thank you!

[akirayou]

I see!

I think adding the flag to the constuctor is better.
like:
public RosSocket(IProtocol protocol,bool UseJson=true)

And I'll also add the option to RosConnector.cs(in Unity3D).
Is it OK?
I'll do it in few days.

Thank you.

[MartinBischoff]

Right. Please add the options to RosConnector and RosSocket, that's a lot better.

[akirayou]

I add the code ,selecting serializer.

I remove "static" on Serializer/Desirializer to pass the member variable "Serializer".
If you dislike this workaround I can rewrite by another way. (i.e. Pass it by the function's argument.)

And I used enum instead of bool. Because my friend says "MsgPack is faster!!".

Thank you

[MartinBischoff]

That is beautiful, thank you.

The only thing left to do is updating Unity3D/Assets/RosSharp/Plugins.RosBridgeClient.dll with you new compiled version.

I will then merge your pull request.

[akirayou]

Oh,I forgot it.
Done! Thank you.