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Added point_cloud_transport #1008
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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp
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subscription_ = std::make_shared<point_cloud_transport::SubscriberFilter>(); | ||
subscription_->subscribe( | ||
rviz_ros_node_.lock()->get_raw_node(), | ||
getPointCloud2BaseTopicFromTopic(topic_property_->getTopicStd()), |
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These helpers seem useful to other users, not just rviz. Should we move these helpers inside pointcloud transport (they might already exist)? I can make a PR for that if you agree
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This might add some knowledge about the point cloud plugins that are installed. I prefer to keep point_cloud_transport agnostic
namespace displays | ||
{ | ||
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template<class MessageType> |
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Since this function is already explicitly a specialized sensor_msgs::msg::Poincloud2 class, does it need to be a template?
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The ImageTransportDisplay class has the same structure. I would like to keep it the same for consistency.
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Thanks for working on point_cloud_transport and the rviz2 plugin, @ahcorde! I've noted that it's currently not possible to subscribe to two Draco compressed point clouds at the same time.
The topics don't even need to be published, just typing in the second /draco topic in the topic field lets RViz2 crash. |
I recently added this commit ros-perception/point_cloud_transport_plugins@45c42b0 fixing the parameter names which was backported to can you check if you are using these changes too ? |
Sorry for the late reply, I had some days off. It seems like The crash does not occur if I comment the content of the |
Hello, I'm trying to visualize the and nothing appears in |
@sinamoghimi73 you should be able to change the QoS, check the following image: |
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
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Changes look good to me, will try this out locally once, and then approve !
friendly ping @adityapande-1995 |
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🚀
this PR ros-perception/point_cloud_transport#64 on point_cloud_transport should fix the issue on the Windows CI |
We started to port
point_cloud_transport
from ROS 1 to ROS 2. This issue track the progress ros-perception/point_cloud_transport#1I will open this PR as a draft because the package is not released yet, we need to discuss it makes or not to include this dependency.
It helps me a lot to debug issue in the
point_cloud_transport
.