Migrate extract_indices filter (#394)

* - migrate extract_indices filter
- add test to check if filter node/component output result

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* add test_depend to package.xml

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* add launch_testing_ros as test_depend too

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* fixed test not to depend on ros2cli

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

---------

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

pcl_ros/include/pcl_ros/filters/extract_indices.hpp

@@ -40,9 +40,9 @@
 
 // PCL includes
 #include <pcl/filters/extract_indices.h>
-
+#include <mutex>
+#include <vector>
 #include "pcl_ros/filters/filter.hpp"
-#include "pcl_ros/ExtractIndicesConfig.hpp"
 
 namespace pcl_ros
 {
@@ -53,9 +53,6 @@ namespace pcl_ros
 class ExtractIndices : public Filter
 {
 protected:
-  /** \brief Pointer to a dynamic reconfigure service. */
-  boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>> srv_;
-
   /** \brief Call the actual filter.
     * \param input the input point cloud dataset
     * \param indices the input set of indices to use from \a input
@@ -63,10 +60,10 @@ protected:
     */
   inline void
   filter(
-    const PointCloud2::ConstPtr & input, const IndicesPtr & indices,
+    const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
     PointCloud2 & output)
   {
-    boost::mutex::scoped_lock lock(mutex_);
+    std::lock_guard<std::mutex> lock(mutex_);
     pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
     pcl_conversions::toPCL(*(input), *(pcl_input));
     impl_.setInputCloud(pcl_input);
@@ -76,16 +73,13 @@ protected:
     pcl_conversions::moveFromPCL(pcl_output, output);
   }
 
-  /** \brief Child initialization routine.
-    * \param nh ROS node handle
-    * \param has_service set to true if the child has a Dynamic Reconfigure service
+  /** \brief Parameter callback
+    * \param params parameter values to set
     */
-  virtual bool
-  child_init(ros::NodeHandle & nh, bool & has_service);
+  rcl_interfaces::msg::SetParametersResult
+  config_callback(const std::vector<rclcpp::Parameter> & params);
 
-  /** \brief Dynamic reconfigure service callback. */
-  void
-  config_callback(pcl_ros::ExtractIndicesConfig & config, uint32_t level);
+  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
 
 private:
   /** \brief The PCL filter implementation used. */
@@ -93,6 +87,8 @@ private:
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  explicit ExtractIndices(const rclcpp::NodeOptions & options);
 };
 }  // namespace pcl_ros