[ros-users] roscpp with transport plugins

Cedric Pradalier cedric.pradalier at gmail.com
Wed May 30 04:45:42 UTC 2012

On Wed, May 30, 2012 at 3:18 AM, Edwards, Shaun M. <sedwards at swri.org> wrote:
> +1 if the compress/decompress helps with point clouds and images.

I'm quite confident it will help with point clouds and images. Also
occupancy grids should compress very well.

For images  though, it might not work as well as the image_transport
plugin. The latter can take advantage of more knowledge and use lossy
compression (Jpeg or Theora) to reduce the bandwidth more drastically.
For lossless compression, it should be roughly equivalent: PNG and BZ2
use very algorithm AFAIK.

This is actually a good point in favour of having the two mechanisms:
a generic preprocessing of the messages at the level of the
publisher/subscriber and a message transport architecture that can be
instantiated for specialized preprocessing on well defined types.

Cedric Pradalier

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