Skip to content

docs: Use new REP document URLs, document base64 encoding #1127

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
bjsowa merged 1 commit into from
Nov 20, 2025
Merged

docs: Use new REP document URLs, document base64 encoding #1127

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions QUALITY_DECLARATION.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
This document is a declaration of software quality for the `rosbridge_suite` packages, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html). The following packages are covered by this declaration:
This document is a declaration of software quality for the `rosbridge_suite` packages, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/). The following packages are covered by this declaration:

- rosapi
- rosapi_msgs
Expand All @@ -12,7 +12,7 @@ This document is a declaration of software quality for the `rosbridge_suite` pac

The package `rosbridge_suite` claims to be in the **Quality Level 3** category.

Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level N in REP-2004](https://www.ros.org/reps/rep-2004.html).
Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level N in REP-2004](https://reps.openrobotics.org/rep-2004/).

## Version Policy [1]

Expand Down Expand Up @@ -69,10 +69,10 @@ New features are required to have tests before being added.

## Platform Support [6]

`rosbridge_suite` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers). Tests are currently only run against Ubuntu Linux.
`rosbridge_suite` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers). Tests are currently only run against Ubuntu Linux.

## Security [7]

### Vulnerability Disclosure Policy [7.i]

This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).
22 changes: 22 additions & 0 deletions ROSBRIDGE_PROTOCOL.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -613,3 +613,25 @@ The meta-package will contain the following packages:
tornado, a python server implementation.
* **rosapi** – provides ROS services for various master API calls, such as
listing all the topics, services, types currently in ROS

### 4.6 Data Type Encoding

**Base64 Encoding for JSON Byte Arrays**

When rosbridge sends messages containing `uint8[]` or `char[]` fields as JSON, these byte arrays are automatically encoded as base64 strings to reduce message size by approximately 60-65%.

For example, a message field defined as:

```
uint8[] data = [0, 0, 0, 0]
```

Will be transmitted as:

```json
{
"data": "AAAAAAAA"
}
```

Where the string value is the base64-encoded representation of the byte array. Byte arrays may be sent to the server as either a base64 string or a JSON list of numbers, but will be re-encoded as a base64 string before being sent to other clients.