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auki-ros-adapter

Synced from the repository

This page mirrors crates/auki-ros-adapter/README.md in the auki-sdk repo (branch develop). The repository is the source of truth.

Generic ROS2 → SDK glue. Converts sensor_msgs/CameraInfo + sensor_msgs/Image into Sensor Registry entries and Sensor Log payloads; same for sensor_msgs/PointCloud2, with RGB / RGBA normalization. Both builders thread frame_id + frame_hash through so the resulting registry entries commit to an exact Frame Registry version.

Status: ⚠ Broken at the transport layer. r2r 0.9.5's compile-time-generated sensor_msgs typesupport doesn't match the CDR layout some camera drivers publish. Fix in flight.

Public surface​

  • Message structs: StampMsg, CameraInfoMsg, ImageMsg, PointCloud2Msg, PointFieldMsg
  • Builders: build_camera_registry_entry, build_sensor_log_entry, build_point_cloud_registry_entry, build_point_cloud_log_entry
  • Traits + mocks: CameraSubscriber, PointCloudSubscriber
  • r2r_subscriber module — the real ROS2 wiring (currently affected by the bug above).

Depends on​

  • auki-registry — for the Sensor + Frame Registry entry types.
  • auki-datatypes — for the camera / point-cloud segment payloads.
  • r2r 0.9.5 (external) — the only crate in the workspace that pulls this in.