Change Image (and other) messages to use `byte[]` rather than `uint8[]`
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Description
Change request
In the Image, CompressedImage, and PointCloud2 messages there are data fields that have type uint8[]. I suggest these are chaged to byte[].
Change description
According to the wiki, uint8 is interpreted as a python int, whereas byte is interpreted as a python byte. For the messages where arrays of uint8 are used, it's normally because the data is some arbitrary binary format. Currently, it seems that rclpy takes this binary data, copies it out into a list[int], which client code then normally converts back to some collection of byte types for use. This is much more processing and copying than is necessary.
This should also somewhat mitigate this issue, as no range check will be necessary.
Implementation considerations
I can think of no cons of this change
connects to ros2/rosidl#190
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Locate the message definitions for Image, CompressedImage, and PointCloud2 and inspect their data fields. Review the linked rosidl#190 discussion before deciding the scope, then verify that all three interfaces consistently use byte[] and that the related interface behavior is covered.
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Assessment
- Domain
- api
- Issue type
- Feature
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100