How to integrate this package

[wangwen5955]

Hi，

I am try to use pb files as ros massage, but i do not know how to use this adapter package in my project, is there any demo to show that? Thanks a lot!

[FlorianReimold]

Hi Wangwen,

The rosidl_typesupport_protobuf is meant to work together with the rmw_ecal. So you may want to check out the readme from that repository: https://github.com/continental/rmw_ecal

If I understood correctly, you are trying to use .proto files as a replacement for the standard ROS .msg descriptions. Please try to elaborate your question if this assumption is wrong. Using .proto files directly is unfortunately not the scope of this project. The rosidl_typesupport_protobuf will require you to use normal ROS .msg descriptions as always; only the serialization on transport layer will be protobuf. ROS itself doesn't specify any serialization format at all, so each rmw will have to bring it's own. rmw_ecal is able to use a dynamic custom serialization or this protobuf serialization format.

Regards
Florian