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Published 20 hours ago • verified publisher icon ros-perception

PointCloud 1 support?

Open botteroa-si opened this issue 6 years ago • 2 comments

Is support for PointCloud1 still needed even though PointCloud1 is deprecated?

In the first migration to ROS2 only the support for PointCloud2 is kept. If the PointCloud1 code is nonetheless needed in the future, it must be reintegrated.

botteroa-si avatar Mar 22 '18 10:03 botteroa-si

I lean towards not supporting pointcloud1, unless there is a strong need. Lets see how many people complain :-)

jonbinney avatar Mar 26 '18 18:03 jonbinney

I am working on laser_assembler package porting to ROS2, in that PointCloud1 is used. and as per maintainer's comment "It would be good to keep support for both. It looks like ROS2 still has a PointCloud message: https://github.com/ros2/common_interfaces/tree/master/sensor_msgs/msg The PointCloud message is simpler to use for people who aren't using PCL, since the PointCloud2 is a big binary blob that you have to manually parse." (https://github.com/ros-perception/laser_assembler/issues/17) We should keep support for PointCloud1. So I copied PointCloud1 related things from indigo branch and ported it to ros2 and using it for laser_assembler.

vandanamandlik avatar Dec 18 '18 06:12 vandanamandlik