CBOR encoding #364
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CBOR encoding #364
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Switched to rosdepped CBOR library, now depends on ros/rosdistro#19377 |
mvollrath
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Extract message values once per message.
Was using big-endian tags and encoding little-endian. Always use little-endian for now since Intel is prevalent for desktop. Add some comments to this effect.
More information about draft typed arrays and when to use CBOR.
Use an actual 64-bit format.
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Did some more testing and found that CBOR is fastest for large numeric arrays. 64-bit integers may be an exception because JavaScript does not support them natively. PNG can result in a smaller wire size but at great expense on both ends. Per-message deflate at the websocket level is a better way to reduce wire size for browser clients. |
This was referenced Nov 6, 2018
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@mvollrath the rosdistro PR was merged. Can you re-trigger the Travis build? Not sure how to do this though, maybe closing and re-opening the PR will do |
viktorku
approved these changes
Dec 4, 2018
jihoonl
approved these changes
Dec 5, 2018
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Add "cbor" compression type, which produces binary messages encoded with CBOR. For large messages with stochastic data like point clouds, this is more efficient than JSON or PNG encodings. Decoding byte arrays is very fast in Chrome.
Draft typed array tags are implemented for fast decoding of homogeneous numeric arrays.
A roslibjs patch is on the way.