Added ability to transform not only point positions, but also other 3D-data channels.

[peci1]

Solves #387 and adds more functionality that might come handy to people who also use other 3D-data channels in pointclouds.

[roncapat]

Any news?

It is quite important to rotate normals in particular... It is quite surprising that ROS never had this feature :)

[peci1]

In a few days, I should be releasing our (so far private) utility library cras_cpp_common which contains an even more versatile tool for working with pointclouds with direction- and point-like channels. I'll post a link here once it is live.

But having this PR merged would definitely be nice so that the functionality is directly in the core ROS libraries.

[peci1]

This has been implemented in http://docs.ros.org/en/melodic/api/cras_cpp_common/html/tf2__sensor__msgs_8h.html . Install ros-${ROS_DISTRO}-cras-cpp-common and you're a go!

[ahcorde]

This PR is targeting a EOL distribution melodic, closing this PR, feel free to reopen this against a maintained branch

[peci1]

@ahcorde Can you reopen this PR? I can't change the base when it is closed... Or should I rather open a new one?

[peci1]

Thanks for reopening. The tests are green.

[peci1]

@tfoote would you find a while for reviewing this?