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[ROS][api][refactor] Add new package to perform driver point type conversion

Julia Sanchez requested to merge ConversionNodeROSWrapping into master

By now, LidarSlamNode carries out a conversion between Velodyne driver point type (currently hold in velodyne_pcl/point_types.h) and the point type used in SLAM (LidarPoint.h).

  1. Goals
  • Make LidarSlamNode independent of the device used
  • Create an independent conversion node specialized for Velodyne points input
  • The new node must supply a PC2 msg which is directly convertible with LidarPoint.
  1. Changes
  • Create new topic lidar_points to supply pointclouds to LidarSlamNode
  • Add new package for all needed drivers
  • Add new Velodyne converter node
  • Adapt LidarSlamNode consequently

@nicolas.cadart @nick.laurenson PTAL

Edited by Julia Sanchez

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