Can't publish CompressedImage topic about micro_ros_espidf_component HOT 7 CLOSED

int main(int argc, const char * const * argv)
{
  	rcl_allocator_t allocator = rcl_get_default_allocator();
	rclc_support_t support;

	// Create init_options
	RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

	// Create node
	rcl_node_t node;
	RCCHECK(rclc_node_init_default(&node, "node", "", &support));

	// Create publishers

	rcl_publisher_t publisher;
	RCCHECK(rclc_publisher_init_default(
		&publisher,
		&node,
    	ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, CompressedImage),
		"topic"));


	static micro_ros_utilities_memory_conf_t conf = {};

	conf.max_string_capacity = 50;
	conf.max_ros2_type_sequence_capacity = 5;
	conf.max_basic_type_sequence_capacity = 5;

	micro_ros_utilities_memory_rule_t rules[] = {
		{"header.frame_id", 30},
		{"format",4},
		{"data", 3000}
	};
	conf.rules = rules;
	conf.n_rules = sizeof(rules) / sizeof(rules[0]);

	sensor_msgs__msg__CompressedImage msg_static;

	micro_ros_utilities_create_message_memory(
		ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, CompressedImage),
		&msg_static,
		conf
	);

	uint8_t pic[2617];
	memset(pic, 0xAB, sizeof(pic));

	msg_static.data.size = sizeof(pic);

	msg_static.header.frame_id = micro_ros_string_utilities_set(msg_static.header.frame_id, "myframe");
	msg_static.format = micro_ros_string_utilities_set(msg_static.format, "JPEG");
	memcpy(msg_static.data.data,pic,sizeof(pic));

	RCSOFTCHECK(rcl_publish(&publisher, &msg_static, NULL));
}