How is the native protobuf support implemented?
chizhangsysu opened this issue · 0 comments
chizhangsysu commented
Hi, I was trying to understand which changes to the ROS source codes make it possible to directly publishing a protobuf object.
In vanilla ROS, gencpp
will provide template specializations for the MD5Sum<T>
struct and the Serializer<T>
struct, when generating the header file for a .msg file, so that the message object can be serialized and published.
However, when the message class comes from a .proto file instead of the .msg file, what changes make the protobuf object serializable using the ROS publisher? Could you explain what has been done here if possible?
Thanks,
Chi