Migrate convert_pointcloud_to_image to ROS 2 #372
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR aims to migrate the code of
convert_ponintcloud_to_imageto the ROS 2 APIMost of the changes are pretty straightforward, I think it would be interesting to think about creating a component to perform node composition so it would be possible to integrate it with existing data pipeline in ROS 2 and take advantage of zero-copy transport, but this discussion is beyond the scope of this PR.
A important technical debt is that there is no method to resolve remapped topics in foxy (see ros2/rclcpp#1410 for their implementation in galactic), so the log message doesn't display the same information as before. The version that would work in newer versions of ROS is present in comment form, so it is possible to just uncomment those when merging to the main branch.