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The sendable size is smaller than Twitter. #32
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Yes, I agree with your idea. |
Thanks for your consideration. I've created some related below. |
The current implementation serializes the messages into the fixed-size buffer. The buffer size is only 100 bytes. So, the maximum sendable size is limited up to the size.
This is so small that mROS is unable to send large messages such as camera images.
Even if we modified the implementation to increase the buffer size, we would bump into another upper limit of MTU size.
So, we'd better add an additional implementation to send large messages using the fragmented serialized data feature of RTPS.
I implemented a prototype as below.
https://github.com/smoriemb/mros2-mbed/tree/feature/mros2-frag-msg-proto
You can check the actual behavior using a sample recv_long_string_send_crc.
This sample mROS2 node publishes a long string(one-4th of README.md) . And then it subscribes to a CRC32 value to check if the message is correctly received by the host's ROS2 node.
Could you kindly check the code roughly? And, if it is enough useful to discuss, I'd like to make pull requests for each related repository.
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