Expand description
CDR serialization and the geometry messages a robot is driven by.
ROS 2 and rmw_zenoh put messages on the wire as CDR, the OMG Common Data Representation. A
CDR stream opens with a four-byte encapsulation header naming the byte order, after which each
primitive is written in that byte order and aligned to its own size relative to the start of the
body. Getting the alignment padding wrong is the classic CDR bug, so the CdrWriter and
CdrReader handle it once, and the message types build on them. This slice covers the
little-endian encapsulation and the geometry messages used to command motion; more messages and
big-endian decoding arrive with the live bridge.
Structsยง
- CdrReader
- Reads primitives from a little-endian CDR buffer, handling alignment padding.
- CdrWriter
- Writes primitives as little-endian CDR, handling alignment padding.
- Twist
- A body velocity command (
geometry_msgs/msg/Twist): a linear and an angularVector3. - Vector3
- A three-dimensional vector (
geometry_msgs/msg/Vector3): three 64-bit floats.