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Forward JPEG CompressedImage topics as LiveKit video tracks (2/4) - #111
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This was referenced Oct 13, 2026
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ROS Portal now subscribes to outbound sensor_msgs/CompressedImage topics. It decodes each JPEG frame with libturbojpeg and sends it as a video track. A topic named <base>/compressed publishes the track <base>. If two topics map to the same track name, only the first one is forwarded and the clash counts in outbound.failures. Each outbound video frame now carries the ROS header.stamp and header.frame_id as LiveKit frame metadata, so a receiver can restore the header. This also adds the JpegEncoder that the inbound path uses. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
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alan-george-lk
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Overview
Forward JPEG
sensor_msgs/CompressedImagetopics as LiveKit video tracks, and send the ROS header with each video frame.Stack
This is part of a stack that replaces #109. Review and merge in order:
Details
libturbojpeg(Dockerfile,package.xml, CMake) withJpegDecoderandJpegEncoder. The encoder is used by the inbound path in the next PR and by the tests here./cam/image_raw/compressedpublishes/cam/image_raw/compressed; raw and compressed topics can be forwarded independently.header.stampasuser_timestamp_usandheader.frame_idas user data (video_frame_metadata). The track is published withframe_metadata_featuresturned on.docs/configuration.md, outbound rows indocs/diagnostics.md, anddocs/limitations.md.Breaking changes
N/A
Testing
colcon test-result --verbosereports 532 tests, zero errors, zero failures, zero skipped.source scripts/set-test-tokens.shand local LiveKit 1.13.6 started withlivekit-server --dev --enable_participant_data_blob../scripts/clang-format.shpasses for all changed C++ files../scripts/clang-tidy.shpasses fortopic_forwarder.cppandros_utils.cpp, with zero reported warnings or errors.