README: Move content to QRB ROS document

Signed-off-by: Peng Wang <[email protected]>

README.md

@@ -4,118 +4,35 @@ dmabuf_transport is a package for zero-copy transport ROS message with Linux dma
 
 ## Overview
 
-[Dmabuf Transport](https://github.com/quic-qrb-ros/dmabuf_transport) provides a way to share data between different hardware accelerators and different ROS nodes with zero-copy. 
+[Dmabuf Transport](https://github.com/quic-qrb-ros/dmabuf_transport) provides a way to share data between different hardware accelerators and different ROS nodes with zero-copy.
 
 It is built on ROS 2 [Type Adaption](https://ros.org/reps/rep-2007.html). It allows us to define methods for serializing directly to the user requested type, and/or using that type in intra-process communication without ever converting it.
 
 We can define our adapted types with Linux dma-buf, and send dma-buf descriptor with ROS. Then use [ROS Composition](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html) to confirm ROS nodes running in a single process, it enables zero-copy over the pipeline.
 
-## System Requirements
+> This package need Linux kernel 5.12+ and ROS Humble later version.
 
-- Linux kernel version 5.12 and later, for kernel dma-buf support.
-- ROS 2 Humble and later, for type adaption support.
+## Documentation
 
-## QuickStart
+Please refer to the [Dmabuf Transport](https://quic-qrb-ros.github.io/main/packages/qrb_ros_transport/dmabuf_transport.html) for more documents.
+- [Overview](https://quic-qrb-ros.github.io/main/packages/qrb_ros_transport/dmabuf_transport.html#overview)
+- [Quickstart](https://quic-qrb-ros.github.io/main/packages/qrb_ros_transport/dmabuf_transport.html#quickstart)
+- [Updates](https://quic-qrb-ros.github.io/main/packages/qrb_ros_transport/dmabuf_transport.html#updates)
 
-## Code Sync and Build
+## Contributing
 
-Currently, we only support build with QCLINUX SDK.
+We would love to have you as a part of the QRB ROS community. Whether you are helping us fix bugs, proposing new features, improving our documentation, or spreading the word, please refer to our [contribution guidelines](./CONTRIBUTING.md) and [code of conduct](./CODE_OF_CONDUCT.md).
 
-1. Setup QCLINUX SDK environments follow this document: [Set up the cross-compile environment](https://docs.qualcomm.com/bundle/publicresource/topics/80-65220-2/develop-your-first-application_6.html?product=1601111740013072&facet=Qualcomm%20Intelligent%20Robotics%20(QIRP)%20Product%20SDK&state=releasecandidate)
+- Bug report: If you see an error message or encounter failures, please create a [bug report](../../issues)
+- Feature Request: If you have an idea or if there is a capability that is missing and would make development easier and more robust, please submit a [feature request](../../issues)
 
-2. Create `ros_ws` directory in `<qirp_decompressed_workspace>/qirp-sdk/`
+## Authors
 
-     ```bash
-     mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws
-     ```
+* **Peng Wang** - *Initial work* - [penww](https://github.com/penww)
 
-3. Clone this repository and dependencies under `<qirp_decompressed_workspace>/qirp-sdk/ros_ws`
+See also the list of [contributors](https://github.com/quic-qrb-ros/dmabuf_transport/graphs/contributors) who participated in this project.
 
-     ```bash
-     cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws
-     git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
-     git clone https://github.com/quic-qrb-ros/dmabuf_transport.git
-     ```
-
-4. Build projects
-
-     ```bash
-     export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
-     export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
-     
-     colcon build --merge-install --cmake-args \
-       -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
-       -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
-       -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
-       -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
-       -DBUILD_TESTING=OFF
-     ```
-## Using dmabuf_transport in your project
-
-1. Add dependency in package.xml
-
-   ```xml
-   <depend>dmabuf_transport</depend>
-   ```
-
-2. Add dependency in CMakeLists.txt
-
-   ```cmake
-   find_package(dmabuf_transport REQUIRED)
-
-   ament_target_dependencies(${PROJECT_NAME}
-     # ...
-     dmabuf_transport
-   )
-   ```
-
-3. Zero-copy transport dmabuf_transport types
-
-   ```c++
-   #include "dmabuf_transport/type/image.hpp"
-   // create message
-   auto msg = std::make_unique<dmabuf_transport::type::Image>();
-   msg->header = std_msgs::msg::Header();
-   // save message data to dmabuf
-   auto dmabuf = lib_mem_dmabuf::DmaBuffer::alloc(1024, "/dev/dma_heap/system");
-   // ... set data
-   msg->dmabuf = dmabuf;
-
-   // publish message
-   pub_->publish(std::move(msg));
-   ```
-
-- Check [test](./test/) directory to find more details.
-
-## Supported Types
-
-The following table lists current supported types:
-
-| Zero Copy Transport Type                                     | ROS Interface                                                |
-| ------------------------------------------------------------ | ------------------------------------------------------------ |
-| [dmabuf_transport::type::Image](./include/dmabuf_transport/type/image.hpp) | [sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) |
-| [dmabuf_transport::type::PointCloud2](./include/dmabuf_transport/type/pointcloud2.hpp) | [sensor_msgs::msg::Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) |
-
-## Supported Platforms
-
-This package is designed and tested to be compatible with ROS 2 Humble running on Qualcom RB3 gen2.
-
-| Hardware                                                     | Software          |
-| ------------------------------------------------------------ | ----------------- |
-| [Qualcomm RB3 gen2](https://www.qualcomm.com/developer/hardware/rb3-gen-2-development-kit) | LE.QCROBOTICS.1.0 |
-
-## Resources
-
-- [ROS 2 Type Adaption](https://ros.org/reps/rep-2007.html): ROS 2 new feature to implement zero copy transport.
-- [Linux dma-buf](https://docs.kernel.org/driver-api/dma-buf.html): Linux kernel subsystem for sharing buffers for hardware (DMA) access across multiple device drivers and subsystems, and for synchronizing asynchronous hardware access
-- [lib_mem_dmabuf](https://github.com/quic-qrb-ros/lib_mem_dmabuf): Library for access and interact with Linux DMA heaps.
-
-## Contributions
-
-Thanks for your interest in contributing to dmabuf_transport! Please read our [Contributions Page](CONTRIBUTING.md) for more information on contributing features or bug fixes. We look forward to your participation!
 
 ## License
 
-dmabuf_transport is licensed under the BSD 3-clause "New" or "Revised" License.
-
-Check out the [LICENSE](LICENSE) for more details.
+Project is licensed under the [BSD-3-clause License](https://spdx.org/licenses/BSD-3-Clause.html). See [LICENSE](./LICENSE) for the full license text.

include/dmabuf_transport/type/image.hpp

@@ -43,7 +43,6 @@ struct rclcpp::TypeAdapter<dmabuf_transport::type::Image, sensor_msgs::msg::Imag
     destination.is_bigendian = source.is_bigendian;
     destination.step = source.step;
 
-
     if (source.dmabuf == nullptr || source.dmabuf->fd() <= 0) {
       RCLCPP_ERROR(rclcpp::get_logger("dmabuf_transport"), "image: dmabuf is null");
       return;