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JNI ERROR of sensor_msgs.msg.Image on Android side but solved on ROS side #224
Description
With reference to this issue #132
The crash message
JNI ERROR (app bug): expected jbyte but got value of 206 as argument 1 to void java.lang.Byte.(byte)
The crash message on android side showed that the received data from ros is unsigned byte (0-255) but the byte of java is signed (-128, 127).
Therefore, the proper way to solve this problem should be on android side to disable the check of data type.
https://android.googlesource.com/platform/art/+/master/runtime/reflection.cc line417
I have no idea to solve on android side but changed unit8[] data from http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CompressedImage.html from to int8[] data and compile the ros2_java library again. The publish/subscribe of this message becomes normal without crash.
Is there alternative to solve this issue on Android side without changing the message type of CompressedImage?
Activity
YasuChiba commentedon Feb 7, 2023
Hi, I'm currently working on porting ROS-Mobile-Android to ROS2 using rcljava. (https://github.com/YasuChiba/ROS2-Mobile-Android)
I encountered this JNI Error problem while implementing the function to display
std_msgs.msg.Imagein the app.As a temporary workaround, I have confirmed that the error no longer occurs once I rewrite the
msg.cpp.emfile like this. (though performance is quite poor).In my understanding, the
osrf/ros2_javarepository has resolved this issue, but are there any plans to merge the changes intothis repository?
@ivanpauno @jacobperron
I'm really sorry to mention both of you. Could you please tell me if you are planning to update this repository?
If not, I will try to implement it by my self :)