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Lidar Conversion Plugin Integration for SLAM

Maikrequested to merge
Maik13579/slam:ROS2/refactor_conversion_nodes into master

Problem Statement

  • Inefficiency: The previous approach required launching a separate node to convert sensor_msgs/PointCloud2 from a LiDAR to the format of the SLAM, adding unnecessary overhead.
  • Latency Issues: Conversion was handled outside the SLAM callback, resulting in conversion time not being included in frame computation.

Proposed Solution

  • Plugin-based Conversion: The new implementation integrates conversion directly into the SLAM callback via plugins.
  • Latency Correction: Including the conversion time in the frame computation improves the accuracy of latency correction.
  • Simplified Architecture: Eliminates the need for a dedicated conversion node, streamlining data flow.

Benefits

  • Reduced inter-node communication overhead.
  • More accurate, latency-corrected SLAM output.
  • Improved modularity and easier maintenance.

Merge request reports