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Repository Summary
| Description | ROS 2 type adapter for pcl |
| Checkout URI | https://github.com/ouxt-polaris/pcl_type_adapter.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-01-19 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| pcl_type_adapter | 0.1.0 |
README
pcl_type_adapter
ROS 2 package of type adapter for transferring point clouds via zero-copy communication.
How to use.
Publish pointcloud
class PubNode : public rclcpp::Node
{
public:
using AdaptedType = rclcpp::TypeAdapter<pcl::PointCloud::PointXYZ::Ptr, sensor_msgs::msg::PointCloud2>;
explicit PubNode(const rclcpp::NodeOptions & options) : Node("test", options)
{
publisher_ = create_publisher<AdaptedType>("pointcloud", 1);
}
void publish(const pcl::PointCloud::PointXYZ::Ptr & point_cloud) { publisher_->publish(point_cloud); }
private:
std::shared_ptr<rclcpp::Publisher<AdaptedType>> publisher_;
};
Subscribe pointcloud
class SubNode : public rclcpp::Node
{
public:
using AdaptedType = rclcpp::TypeAdapter<pcl::PointCloud::PointXYZ::Ptr, sensor_msgs::msg::PointCloud2>;
explicit SubNode(
const rclcpp::NodeOptions & options)
: Node("test", options)
{
subscriber_ = create_subscription<AdaptedType>("pointcloud", 1, [](const auto & pointcloud){});
}
private:
std::shared_ptr<rclcpp::Subscription<AdaptedType>> subscriber_;
};
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
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