Containers and PCL point type for backwards compatibility

[spuetz]

This is a possible solution for #340 for melodic.

• It restores the pcl dependency
• The missing point_type.h is added again.
• Corresponding containers without a time field are added.
• The assignment of the time value has been fixed for the organized cloud container, see organized_cloudXYZIRT.cc.

Things to do before merging / releasing

• [ ] Someone using the driver with the point_type.h should test this.
• [x] For Noetic, we should remove pcl and add a velodyne_pcl package (#335)
• [x] Furthermore, we could merge the classes in convert.h and transform.h, since it more or less identical now. (#351)

[JWhitleyWork]

Item 3 in your list is handled by #344. Since this functionality is necessary to get a new release, I'll merge this first and have the author of #344 rebase on your changes.

[spuetz]

We should have this also in the master for noetic with the option of selecting the right container. But, of course without the point_type.h and the pcl dependencies. Further, we could handle the containers as plugins, using the pluginlib. Then people could use the driver and modify their container, meaning modifying what is in the cloud and how, e.g. how it is transformed, etc. Additionally, for noetic I would remove the config flag for organize_cloud since this is covered by using one of the organized containers.

[JWhitleyWork]

@spuetz Can you please address my concerns? After that, I'll see if I can find a package to test with.

[JWhitleyWork]

@spuetz ping for changes.

[JWhitleyWork]

@spuetz Any update here?

[spuetz]

Sorry for the late reply. I'll have time in two weeks to finish this.

[JWhitleyWork]

Thanks, @spuetz!

[JWhitleyWork]

@spuetz ping

[JWhitleyWork]

@spuetz Still two items remaining when you can make time.

[JWhitleyWork]

@spuetz Can we get this wrapped up?

[hriihimaki]

Any update on this? @spuetz @JWhitleyWork

[JWhitleyWork]

Rebased on current melodic-devel. Waiting for @spuetz to complete as I just don't have the background or time.