Enable CBOR decompression

[Changliu52]

I have a feature request!

The rosbridge has just developed a really nice feature to integrate CBOR compression for pointcloud. RobotWebTools/rosbridge_suite#452
But at the moment ros-sharp cannot receive it. I think it will be really valuable to enable decompression in ros-sharp to utilise this feature. RobotWebTools/rosbridge_suite#453

How would you think this is can be enabled or adapt to work towards streaming pointcloud2 through CBOR compression?

Best Regards,
Chang

[berkayalpcakal]

Hey @Changliu52 ,

I am trying to deserialize CBOR encoded messages as well. Do you have any progress so far? I am having an issue which I explain here in detail, which is basically I could only get corrupted json strings when I decode cbor-compressed PointCloud2 messages so I cannot deserialize the messages into custom C# objects.

[Changliu52]

Sorry, no progress update so far.

[MartinBischoff]

We restrict ROS# serializer support to Microsoft.JSON and Newtonsoft.JSON only.
There is the generic ISerializer interface with which application-specific serializers can be implemented.