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What are Protobuffers? Protocol Buffers (Protobuffers or protobufs) are Google's binary serialization format for structured data. Compared to alternatives like JSON or XML, they are significantly more compact and faster to serialize/deserialize, making them we...

Overview The Communications node bridges the gap between raw UDP/protobuf packets and the ROS2 ecosystem running on Jonny Boi. This page explains how incoming protobuf messages get converted into ROS2 messages and published on topics, the handler pattern that ...

What is the PBEnvelope? The PBEnvelope is a wrapper message defined in components/common/envelope.proto in the ERC-Protobufs repository. Every protobuf message sent over UDP on this rover — whether from the Basestation, the Jetson, or a hardware microcontrolle...

udp_forwarder_node.cpp This is the main file running the communications logic on Jonny Boi's side. It is a ROS2 node that simultaneously acts as a UDP server and a ROS2 publisher/subscriber. Its primary responsibilities are: Receiving raw encoded PBEnvelope pa...