Jetson nano を使用してカメラ・音声データ取得とjpeg・音声データ送信：ソースコード：VideoMsgMsg.cs

unityで　VideoMsg.msgをビルドすると自動でできるコード特にいじらない

//Do not edit! This file was generated by Unity-ROS MessageGeneration.
using System;
using System.Linq;
using System.Collections.Generic;
using System.Text;
using Unity.Robotics.ROSTCPConnector.MessageGeneration;

namespace RosMessageTypes.CppPubsub
{
    [Serializable]
    public class VideoMsgMsg : Message
    {
        public const string k_RosMessageName = "cpp_pubsub/VideoMsg";
        public override string RosMessageName => k_RosMessageName;

        public byte[] img_data_l;
        public byte[] img_data_r;
        public short[] audio_data;

        public VideoMsgMsg()
        {
            this.img_data_l = new byte[0];
            this.img_data_r = new byte[0];
            this.audio_data = new short[0];
        }

        public VideoMsgMsg(byte[] img_data_l, byte[] img_data_r, short[] audio_data)
        {
            this.img_data_l = img_data_l;
            this.img_data_r = img_data_r;
            this.audio_data = audio_data;
        }

        public static VideoMsgMsg Deserialize(MessageDeserializer deserializer) => new VideoMsgMsg(deserializer);

        private VideoMsgMsg(MessageDeserializer deserializer)
        {
            deserializer.Read(out this.img_data_l, sizeof(byte), deserializer.ReadLength());
            deserializer.Read(out this.img_data_r, sizeof(byte), deserializer.ReadLength());
            deserializer.Read(out this.audio_data, sizeof(short), deserializer.ReadLength());
        }

        public override void SerializeTo(MessageSerializer serializer)
        {
            serializer.WriteLength(this.img_data_l);
            serializer.Write(this.img_data_l);
            serializer.WriteLength(this.img_data_r);
            serializer.Write(this.img_data_r);
            serializer.WriteLength(this.audio_data);
            serializer.Write(this.audio_data);
        }

        public override string ToString()
        {
            return "VideoMsgMsg: " +
            "\nimg_data_l: " + System.String.Join(", ", img_data_l.ToList()) +
            "\nimg_data_r: " + System.String.Join(", ", img_data_r.ToList()) +
            "\naudio_data: " + System.String.Join(", ", audio_data.ToList());
        }

#if UNITY_EDITOR
        [UnityEditor.InitializeOnLoadMethod]
#else
        [UnityEngine.RuntimeInitializeOnLoadMethod]
#endif
        public static void Register()
        {
            MessageRegistry.Register(k_RosMessageName, Deserialize);
        }
    }
}