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verified publisher icon tomlogan501

ROS 2 jazzy version of pointcloud_merger

Open nino192 opened this issue 7 months ago • 3 comments

This PR implements the pointcloud_merger in ros2-jazzy and is meant to be merged into a new branch.

Changes:

  • Implemented both node and component node (ros2 replacement for nodelets)
  • Removed concurrency_level, since threading is handled in the executor in ros2
  • Changed TimeSynchronizer to ApproximateTimeSynchronizer with max_interval_duration parameter - I just couldn't get TimeSynchronizer to work properly
  • Directly copying data with std::memcpy instead of PointCloud2Iterator - I needed the intensity field of the pointcloud in my use case

I have tested both node and component versions on 2 livox MID360 lidars.

nino192 avatar Jun 03 '25 07:06 nino192

Do you have a rosbag for test purposes ?

tomlogan501 avatar Jun 03 '25 19:06 tomlogan501

@tomlogan501 I did not record it. I can record and send it friday.

nino192 avatar Jun 04 '25 18:06 nino192

@tomlogan501 I have recorded the bags but they are too big (233MB) to be uploaded here, where should I send them?

nino192 avatar Jun 09 '25 14:06 nino192