I decided to create a Python library for Gazebo that works natively without relying on ROS2. While I know ROS2 can run on macOS or Windows, I find it too much of a headache to set up on different computers. Since Gazebo is cross-platform, I wanted to develop a library that works independently and make it publicly available, regardless of the SDF/world files being used.
Now, back to the real topic: What format is the ‘data’ compressed into? I can’t figure out which encoding it uses. Here’s the command I ran:
actually, gazebo has transport library, it provides topic ,service and node which are similar to corresponding ROS 2 concept. you can check transport library.
if you want to be tutored, you can send me message.
The JSON output comes directly from Protobuf, so you will probably want to look at https://protobuf.dev/programming-guides/json/. From a quick look, what’s shown in the screenshot is the raw image bytes with base64 encoding.