ROS2 send image to fastRTPS

[golizheh]

Hej David,

I want to send message from ROS2 (cam2image) at the ROS2 demo exmaple to fastRTPS.

I have found IDL for this exmaple which is called Image.idl , Then I want to use fastrtpsgen to generate files for public and subscriber with IDL,
when I run
fastrtpsgen -example x64Linux2.6gcc Image.idl

It is return back me an error which is Uint is undefined.
My Image.IDL is looks like below:
// generated from rosidl_adapter/resource/msg.idl.em
// with input from sensor_msgs/msg/Image.msg

module sensor_msgs {
module msg {
/*
* This message contains an uncompressed image
* (0, 0) is at top-left corner of image
/
struct Image {
/
* Header timestamp should be acquisition time of image
* Header frame_id should be optical frame of camera
* origin of frame should be optical center of cameara
* +x should point to the right in the image
* +y should point down in the image
* +z should point into to plane of the image
* If the frame_id here and the frame_id of the CameraInfo
* message associated with the image conflict
* the behavior is undefined
*/
std_msgs::msg::Header header;

  /*
   * image height, that is, number of rows
   */
  uint32 height;

  /*
   * image width, that is, number of columns
   */
  uint32 width;

  /*
   * The legal values for encoding are in file src/image_encodings.cpp
   * If you want to standardize a new string format, join
   * ros-users@lists.ros.org and send an email proposing a new encoding.
   * Encoding of pixels -- channel meaning, ordering, size
   * taken from the list of strings in include/sensor_msgs/image_encodings.h
   */
  string encoding;

  /*
   * is this data bigendian?
   */
  uint8 is_bigendian;

  /*
   * Full row length in bytes
   */
  uint32 step;

  /*
   * actual matrix data, size is (step * rows)
   */
  sequence<uint8> data;
};

};
};

Is there any help

[woutervdhof]

Hi golizheh,

I ran into the same problem. It's a while back, but I think you can fix this by replacing uint32 by 'unsigned long'.