Make large-message stripping opt-in (default: full data forwarded)#6
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Stripping uint8[] data from Image/PointCloud2/LaserScan/OccupancyGrid messages was previously on by default, so clients received metadata-only messages unless the operator knew to disable it. Flip the default: messages are forwarded intact, and stripping is enabled explicitly with strip_large_messages:=true for low-bandwidth deployments. - ros2 main: strip_large_messages parameter default true -> false - Ros2SubscriptionManager: constructor default flipped to match - New test suite covering both defaults-include-data and opt-in-strips - README/CLAUDE.md updated to document the opt-in semantics Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Summary
Stripping
uint8[] datafrom Image/PointCloud2/LaserScan/OccupancyGrid messages was on by default, so clients silently received metadata-only messages unless the operator knew to disable it. This flips the behavior: full message data is forwarded by default, and stripping becomes an explicit opt-in (strip_large_messages:=true) for low-bandwidth deployments.Stacked on #5 (
fix/review-findings) — GitHub will retarget tomainautomatically when that merges.Changes
strip_large_messagesROS parameter default:true→falseRos2SubscriptionManagerconstructor default flipped to matchRos2SubscriptionManagerTestsuite (real pub/sub roundtrip): default config must deliver the full image payload; explicit opt-in must strip itTest plan
DataFieldsIncludedByDefaultwatched failing before the flip (payload stripped), passes afterOptInStrippingRemovesDatapins that opt-in stripping keeps workingpre-commit run -aclean🤖 Generated with Claude Code