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Updated ROS2 PR: pcl_conversion only to ROS2 (dashing) (#244)

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* pcl_conversion to ros2

* travis for ros2 and fixed cmakelists

* exporting dependencies

* updated travis

* fixed smaller things

* added colcon ignore to meta package

* merge pcl_conversions.h with version released in Dashing

* merge test script, CMakeListst, package.xml

* append authors, clean up

* PR feedback

* fixed PR comments

* fixed PR comments, cmakelists message_filters, reverted type masq, added maintainer

* removed dashing and made ros_distro matrix env
This commit is contained in:
Andreas Klintberg 2019-10-29 19:10:32 -04:00 committed by Steven Macenski
parent a8ba2c790d
commit a1fd4d2a09
10 changed files with 227 additions and 296 deletions
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89
.travis.sh
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@ -1,89 +0,0 @@
#!/bin/bash
set -e
function travis_time_start {
set +x
TRAVIS_START_TIME=$(date +%s%N)
TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
TRAVIS_FOLD_NAME=$1
echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"
set -x
}
function travis_time_end {
set +x
_COLOR=${1:-32}
TRAVIS_END_TIME=$(date +%s%N)
TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
echo -e "traivs_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\n\e[0K"
echo -e "traivs_fold:end:$TRAVIS_FOLD_NAME"
echo -e "\e[0K\e[${_COLOR}mFunction $TRAVIS_FOLD_NAME takes $(( $TIME_ELAPSED_SECONDS / 60 )) min $(( $TIME_ELAPSED_SECONDS % 60 )) sec\e[0m"
set -x
}
# Default configuration
test "$NOT_TEST_INSTALL" = "" && export NOT_TEST_INSTALL=false
# Mainly for https://github.com/ros-perception/perception_pcl/pull/197#issuecomment-386056906
export DEBIAN_FRONTEND=noninteractive
apt-get update -qq && apt-get install -qq -y -q wget sudo lsb-release gnupg # for docker
# Setup ccache
apt-get install -qq -y -q ccache
export PATH=/usr/lib/ccache:$PATH
travis_time_start setup.before_install
#before_install:
# Define some config vars.
# Install ROS
sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update -qq
# Install ROS
sudo -E apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
source /opt/ros/$ROS_DISTRO/setup.bash
# Setup for rosdep
sudo rosdep init
rosdep update
travis_time_end
travis_time_start setup.install
# Create a catkin workspace with the package under test.
#install:
mkdir -p ~/catkin_ws/src
# Add the package under test to the workspace.
cd ~/catkin_ws/src
ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
travis_time_end
travis_time_start setup.before_script
# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in before_install.
#before_script:
# source dependencies: install using wstool.
cd ~/catkin_ws/src
wstool init
wstool up
# package depdencies: install using rosdep.
cd ~/catkin_ws
rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO --os $DOCKER_IMAGE
travis_time_end
travis_time_start setup.script
# Compile and test.
#script:
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/catkin_ws
catkin build -p1 -j1
catkin run_tests -p1 -j1
catkin_test_results --all build
if [ "$NOT_TEST_INSTALL" != "true" ]; then
catkin clean -b --yes
catkin config --install
catkin build -p1 -j1
fi
travis_time_end

41
.travis.yml
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@ -1,32 +1,27 @@
sudo: false
dist: trusty
language: generic language: generic
services: services:
- docker - docker
cache: ccache
cache:
directories:
- $HOME/.ccache
env: env:
global:
- ROS_REPO=ros2
- CCACHE_DIR=$HOME/.ccache
# travis build will time out with no output unless we use verbose output
- VERBOSE_OUTPUT=true
- VERBOSE_TESTS=true
matrix: matrix:
# Test the target distro. - ROS_DISTRO=dashing OS_NAME=ubuntu OS_CODE_NAME=bionic
- ROS_DISTRO=melodic DOCKER_IMAGE=debian:stretch
- ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:artful install:
- ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic - git clone --branch master --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
# To test backward compatibility for users who build from source.
- ROS_DISTRO=lunar DOCKER_IMAGE=debian:stretch NOT_TEST_INSTALL=true
- ROS_DISTRO=lunar DOCKER_IMAGE=ubuntu:xenial NOT_TEST_INSTALL=true
- ROS_DISTRO=kinetic DOCKER_IMAGE=debian:jessie NOT_TEST_INSTALL=true
- ROS_DISTRO=kinetic DOCKER_IMAGE=ubuntu:xenial NOT_TEST_INSTALL=true
- ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty NOT_TEST_INSTALL=true
# Install system dependencies, namely ROS.
before_install:
# Define some config vars.
- export CI_SOURCE_PATH=$(pwd)
- export REPOSITORY_NAME=${PWD##*/}
script: script:
- echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME" - .industrial_ci/travis.sh
- docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -v $HOME:$HOME -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -e "DOCKER_IMAGE=$DOCKER_IMAGE" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
after_failure:
- find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
- for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
branches: branches:
only: only:
- /.*-devel$/ - /.*-devel$/

75
pcl_conversions/CMakeLists.txt
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@ -1,44 +1,53 @@
cmake_minimum_required(VERSION 2.8) cmake_minimum_required(VERSION 3.5)
project(pcl_conversions) project(pcl_conversions)
find_package(catkin REQUIRED COMPONENTS) # Default to C++14
if(NOT CMAKE_CXX_STANDARD)
find_package(PCL REQUIRED COMPONENTS common io) set(CMAKE_CXX_STANDARD 14)
find_package(Eigen3 REQUIRED)
# There is a bug in the Ubuntu Artful (17.10) version of the VTK package,
# where it includes /usr/include/*-linux-gnu/freetype2 in the include
# directories (which doesn't exist). This filters down to the PCL_INCLUDE_DIRS,
# and causes downstream projects trying to use these libraries to fail to
# configure properly. Here we remove those bogus entries so that downstream
# consumers of this package succeed.
if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
foreach(item ${PCL_INCLUDE_DIRS})
string(REGEX MATCH "/usr/include/.*-linux-gnu/freetype2" item ${item})
if(item)
list(REMOVE_ITEM PCL_INCLUDE_DIRS ${item})
endif()
endforeach()
endif() endif()
catkin_package( if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
INCLUDE_DIRS include add_compile_options(-Wall -Wextra -Wpedantic)
CATKIN_DEPENDS pcl_msgs roscpp sensor_msgs std_msgs endif()
DEPENDS EIGEN3 PCL
find_package(ament_cmake REQUIRED)
find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(message_filters REQUIRED)
find_package(PCL REQUIRED QUIET COMPONENTS common io)
find_package(pcl_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
set(dependencies
message_filters
pcl_msgs
rclcpp
sensor_msgs
std_msgs
)
include_directories(
include
${PCL_COMMON_INCLUDE_DIRS}
) )
install(DIRECTORY include/${PROJECT_NAME}/ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} DESTINATION include/${PROJECT_NAME}/
) )
if(CATKIN_ENABLE_TESTING) # Add gtest based cpp test target
find_package(catkin REQUIRED COMPONENTS roscpp pcl_msgs sensor_msgs std_msgs) if(BUILD_TESTING)
include_directories( find_package(ament_cmake_gtest REQUIRED)
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS})
catkin_add_gtest(test_pcl_conversions test/test_pcl_conversions.cpp) ament_add_gtest(${PROJECT_NAME}-test test/test_pcl_conversions.cpp)
target_link_libraries(test_pcl_conversions ${catkin_LIBRARIES}) ament_target_dependencies(${PROJECT_NAME}-test
${dependencies}
)
target_link_libraries(${PROJECT_NAME}-test ${Boost_LIBRARIES})
endif() endif()
ament_export_include_directories(include)
ament_export_dependencies(${dependencies})
ament_package()

223
pcl_conversions/include/pcl_conversions/pcl_conversions.h
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@ -39,33 +39,35 @@
#include <vector> #include <vector>
#include <ros/ros.h> #include <rclcpp/rclcpp.hpp>
#include <message_filters/message_event.h>
#include <message_filters/message_traits.h>
#include <pcl/conversions.h> #include <pcl/conversions.h>
#include <pcl/PCLHeader.h> #include <pcl/PCLHeader.h>
#include <std_msgs/Header.h> #include <std_msgs/msg/header.hpp>
#include <pcl/PCLImage.h> #include <pcl/PCLImage.h>
#include <sensor_msgs/Image.h> #include <sensor_msgs/msg/image.hpp>
#include <pcl/PCLPointField.h> #include <pcl/PCLPointField.h>
#include <sensor_msgs/PointField.h> #include <sensor_msgs/msg/point_field.hpp>
#include <pcl/PCLPointCloud2.h> #include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/PointIndices.h> #include <pcl/PointIndices.h>
#include <pcl_msgs/PointIndices.h> #include <pcl_msgs/msg/point_indices.hpp>
#include <pcl/ModelCoefficients.h> #include <pcl/ModelCoefficients.h>
#include <pcl_msgs/ModelCoefficients.h> #include <pcl_msgs/msg/model_coefficients.hpp>
#include <pcl/Vertices.h> #include <pcl/Vertices.h>
#include <pcl_msgs/Vertices.h> #include <pcl_msgs/msg/vertices.hpp>
#include <pcl/PolygonMesh.h> #include <pcl/PolygonMesh.h>
#include <pcl_msgs/PolygonMesh.h> #include <pcl_msgs/msg/polygon_mesh.hpp>
#include <pcl/io/pcd_io.h> #include <pcl/io/pcd_io.h>
@ -77,27 +79,27 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/ /** PCLHeader <=> Header **/
inline inline
void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp) void fromPCL(const pcl::uint64_t &pcl_stamp, rclcpp::Time &stamp)
{ {
stamp.fromNSec(pcl_stamp * 1000ull); // Convert from us to ns stamp = rclcpp::Time(pcl_stamp * 1000ull); // Convert from us to ns
} }
inline inline
void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp) void toPCL(const rclcpp::Time &stamp, pcl::uint64_t &pcl_stamp)
{ {
pcl_stamp = stamp.toNSec() / 1000ull; // Convert from ns to us pcl_stamp = stamp.nanoseconds() / 1000ull; // Convert from ns to us
} }
inline inline
ros::Time fromPCL(const pcl::uint64_t &pcl_stamp) rclcpp::Time fromPCL(const pcl::uint64_t &pcl_stamp)
{ {
ros::Time stamp; rclcpp::Time stamp;
fromPCL(pcl_stamp, stamp); fromPCL(pcl_stamp, stamp);
return stamp; return stamp;
} }
inline inline
pcl::uint64_t toPCL(const ros::Time &stamp) pcl::uint64_t toPCL(const rclcpp::Time &stamp)
{ {
pcl::uint64_t pcl_stamp; pcl::uint64_t pcl_stamp;
toPCL(stamp, pcl_stamp); toPCL(stamp, pcl_stamp);
@ -107,31 +109,35 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/ /** PCLHeader <=> Header **/
inline inline
void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header) void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::msg::Header &header)
{ {
fromPCL(pcl_header.stamp, header.stamp); auto time_stamp = rclcpp::Time(header.stamp);
header.seq = pcl_header.seq; fromPCL(pcl_header.stamp, time_stamp);
header.frame_id = pcl_header.frame_id; header.frame_id = pcl_header.frame_id;
} }
inline inline
void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header) void toPCL(const std_msgs::msg::Header &header, pcl::PCLHeader &pcl_header)
{ {
toPCL(header.stamp, pcl_header.stamp); toPCL(header.stamp, pcl_header.stamp);
pcl_header.seq = header.seq; // TODO(clalancette): Seq doesn't exist in the ROS2 header
// anymore. wjwwood suggests that we might be able to get this
// information from the middleware in the future, but for now we
// just set it to 0.
pcl_header.seq = 0;
pcl_header.frame_id = header.frame_id; pcl_header.frame_id = header.frame_id;
} }
inline inline
std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header) std_msgs::msg::Header fromPCL(const pcl::PCLHeader &pcl_header)
{ {
std_msgs::Header header; std_msgs::msg::Header header;
fromPCL(pcl_header, header); fromPCL(pcl_header, header);
return header; return header;
} }
inline inline
pcl::PCLHeader toPCL(const std_msgs::Header &header) pcl::PCLHeader toPCL(const std_msgs::msg::Header &header)
{ {
pcl::PCLHeader pcl_header; pcl::PCLHeader pcl_header;
toPCL(header, pcl_header); toPCL(header, pcl_header);
@ -141,7 +147,7 @@ namespace pcl_conversions {
/** PCLImage <=> Image **/ /** PCLImage <=> Image **/
inline inline
void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image) void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{ {
fromPCL(pcl_image.header, image.header); fromPCL(pcl_image.header, image.header);
image.height = pcl_image.height; image.height = pcl_image.height;
@ -152,21 +158,21 @@ namespace pcl_conversions {
} }
inline inline
void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image) void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{ {
copyPCLImageMetaData(pcl_image, image); copyPCLImageMetaData(pcl_image, image);
image.data = pcl_image.data; image.data = pcl_image.data;
} }
inline inline
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image) void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{ {
copyPCLImageMetaData(pcl_image, image); copyPCLImageMetaData(pcl_image, image);
image.data.swap(pcl_image.data); image.data.swap(pcl_image.data);
} }
inline inline
void copyImageMetaData(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image) void copyImageMetaData(const sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{ {
toPCL(image.header, pcl_image.header); toPCL(image.header, pcl_image.header);
pcl_image.height = image.height; pcl_image.height = image.height;
@ -177,14 +183,14 @@ namespace pcl_conversions {
} }
inline inline
void toPCL(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image) void toPCL(const sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{ {
copyImageMetaData(image, pcl_image); copyImageMetaData(image, pcl_image);
pcl_image.data = image.data; pcl_image.data = image.data;
} }
inline inline
void moveToPCL(sensor_msgs::Image &image, pcl::PCLImage &pcl_image) void moveToPCL(sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{ {
copyImageMetaData(image, pcl_image); copyImageMetaData(image, pcl_image);
pcl_image.data.swap(image.data); pcl_image.data.swap(image.data);
@ -193,7 +199,7 @@ namespace pcl_conversions {
/** PCLPointField <=> PointField **/ /** PCLPointField <=> PointField **/
inline inline
void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::PointField &pf) void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::msg::PointField &pf)
{ {
pf.name = pcl_pf.name; pf.name = pcl_pf.name;
pf.offset = pcl_pf.offset; pf.offset = pcl_pf.offset;
@ -202,7 +208,7 @@ namespace pcl_conversions {
} }
inline inline
void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::PointField> &pfs) void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::msg::PointField> &pfs)
{ {
pfs.resize(pcl_pfs.size()); pfs.resize(pcl_pfs.size());
std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin(); std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
@ -213,7 +219,7 @@ namespace pcl_conversions {
} }
inline inline
void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf) void toPCL(const sensor_msgs::msg::PointField &pf, pcl::PCLPointField &pcl_pf)
{ {
pcl_pf.name = pf.name; pcl_pf.name = pf.name;
pcl_pf.offset = pf.offset; pcl_pf.offset = pf.offset;
@ -222,10 +228,10 @@ namespace pcl_conversions {
} }
inline inline
void toPCL(const std::vector<sensor_msgs::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs) void toPCL(const std::vector<sensor_msgs::msg::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
{ {
pcl_pfs.resize(pfs.size()); pcl_pfs.resize(pfs.size());
std::vector<sensor_msgs::PointField>::const_iterator it = pfs.begin(); std::vector<sensor_msgs::msg::PointField>::const_iterator it = pfs.begin();
int i = 0; int i = 0;
for(; it != pfs.end(); ++it, ++i) { for(; it != pfs.end(); ++it, ++i) {
toPCL(*(it), pcl_pfs[i]); toPCL(*(it), pcl_pfs[i]);
@ -235,7 +241,7 @@ namespace pcl_conversions {
/** PCLPointCloud2 <=> PointCloud2 **/ /** PCLPointCloud2 <=> PointCloud2 **/
inline inline
void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2) void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{ {
fromPCL(pcl_pc2.header, pc2.header); fromPCL(pcl_pc2.header, pc2.header);
pc2.height = pcl_pc2.height; pc2.height = pcl_pc2.height;
@ -248,21 +254,21 @@ namespace pcl_conversions {
} }
inline inline
void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2) void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{ {
copyPCLPointCloud2MetaData(pcl_pc2, pc2); copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data = pcl_pc2.data; pc2.data = pcl_pc2.data;
} }
inline inline
void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2) void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{ {
copyPCLPointCloud2MetaData(pcl_pc2, pc2); copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data.swap(pcl_pc2.data); pc2.data.swap(pcl_pc2.data);
} }
inline inline
void copyPointCloud2MetaData(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2) void copyPointCloud2MetaData(const sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{ {
toPCL(pc2.header, pcl_pc2.header); toPCL(pc2.header, pcl_pc2.header);
pcl_pc2.height = pc2.height; pcl_pc2.height = pc2.height;
@ -275,14 +281,14 @@ namespace pcl_conversions {
} }
inline inline
void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2) void toPCL(const sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{ {
copyPointCloud2MetaData(pc2, pcl_pc2); copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data = pc2.data; pcl_pc2.data = pc2.data;
} }
inline inline
void moveToPCL(sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2) void moveToPCL(sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{ {
copyPointCloud2MetaData(pc2, pcl_pc2); copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data.swap(pc2.data); pcl_pc2.data.swap(pc2.data);
@ -291,28 +297,28 @@ namespace pcl_conversions {
/** pcl::PointIndices <=> pcl_msgs::PointIndices **/ /** pcl::PointIndices <=> pcl_msgs::PointIndices **/
inline inline
void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi) void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::msg::PointIndices &pi)
{ {
fromPCL(pcl_pi.header, pi.header); fromPCL(pcl_pi.header, pi.header);
pi.indices = pcl_pi.indices; pi.indices = pcl_pi.indices;
} }
inline inline
void moveFromPCL(pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi) void moveFromPCL(pcl::PointIndices &pcl_pi, pcl_msgs::msg::PointIndices &pi)
{ {
fromPCL(pcl_pi.header, pi.header); fromPCL(pcl_pi.header, pi.header);
pi.indices.swap(pcl_pi.indices); pi.indices.swap(pcl_pi.indices);
} }
inline inline
void toPCL(const pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi) void toPCL(const pcl_msgs::msg::PointIndices &pi, pcl::PointIndices &pcl_pi)
{ {
toPCL(pi.header, pcl_pi.header); toPCL(pi.header, pcl_pi.header);
pcl_pi.indices = pi.indices; pcl_pi.indices = pi.indices;
} }
inline inline
void moveToPCL(pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi) void moveToPCL(pcl_msgs::msg::PointIndices &pi, pcl::PointIndices &pcl_pi)
{ {
toPCL(pi.header, pcl_pi.header); toPCL(pi.header, pcl_pi.header);
pcl_pi.indices.swap(pi.indices); pcl_pi.indices.swap(pi.indices);
@ -321,28 +327,28 @@ namespace pcl_conversions {
/** pcl::ModelCoefficients <=> pcl_msgs::ModelCoefficients **/ /** pcl::ModelCoefficients <=> pcl_msgs::ModelCoefficients **/
inline inline
void fromPCL(const pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc) void fromPCL(const pcl::ModelCoefficients &pcl_mc, pcl_msgs::msg::ModelCoefficients &mc)
{ {
fromPCL(pcl_mc.header, mc.header); fromPCL(pcl_mc.header, mc.header);
mc.values = pcl_mc.values; mc.values = pcl_mc.values;
} }
inline inline
void moveFromPCL(pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc) void moveFromPCL(pcl::ModelCoefficients &pcl_mc, pcl_msgs::msg::ModelCoefficients &mc)
{ {
fromPCL(pcl_mc.header, mc.header); fromPCL(pcl_mc.header, mc.header);
mc.values.swap(pcl_mc.values); mc.values.swap(pcl_mc.values);
} }
inline inline
void toPCL(const pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc) void toPCL(const pcl_msgs::msg::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
{ {
toPCL(mc.header, pcl_mc.header); toPCL(mc.header, pcl_mc.header);
pcl_mc.values = mc.values; pcl_mc.values = mc.values;
} }
inline inline
void moveToPCL(pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc) void moveToPCL(pcl_msgs::msg::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
{ {
toPCL(mc.header, pcl_mc.header); toPCL(mc.header, pcl_mc.header);
pcl_mc.values.swap(mc.values); pcl_mc.values.swap(mc.values);
@ -351,50 +357,50 @@ namespace pcl_conversions {
/** pcl::Vertices <=> pcl_msgs::Vertices **/ /** pcl::Vertices <=> pcl_msgs::Vertices **/
inline inline
void fromPCL(const pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert) void fromPCL(const pcl::Vertices &pcl_vert, pcl_msgs::msg::Vertices &vert)
{ {
vert.vertices = pcl_vert.vertices; vert.vertices = pcl_vert.vertices;
} }
inline inline
void fromPCL(const std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts) void fromPCL(const std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::msg::Vertices> &verts)
{ {
verts.resize(pcl_verts.size()); verts.resize(pcl_verts.size());
std::vector<pcl::Vertices>::const_iterator it = pcl_verts.begin(); std::vector<pcl::Vertices>::const_iterator it = pcl_verts.begin();
std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin(); std::vector<pcl_msgs::msg::Vertices>::iterator jt = verts.begin();
for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) { for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
fromPCL(*(it), *(jt)); fromPCL(*(it), *(jt));
} }
} }
inline inline
void moveFromPCL(pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert) void moveFromPCL(pcl::Vertices &pcl_vert, pcl_msgs::msg::Vertices &vert)
{ {
vert.vertices.swap(pcl_vert.vertices); vert.vertices.swap(pcl_vert.vertices);
} }
inline inline
void fromPCL(std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts) void fromPCL(std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::msg::Vertices> &verts)
{ {
verts.resize(pcl_verts.size()); verts.resize(pcl_verts.size());
std::vector<pcl::Vertices>::iterator it = pcl_verts.begin(); std::vector<pcl::Vertices>::iterator it = pcl_verts.begin();
std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin(); std::vector<pcl_msgs::msg::Vertices>::iterator jt = verts.begin();
for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) { for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
moveFromPCL(*(it), *(jt)); moveFromPCL(*(it), *(jt));
} }
} }
inline inline
void toPCL(const pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert) void toPCL(const pcl_msgs::msg::Vertices &vert, pcl::Vertices &pcl_vert)
{ {
pcl_vert.vertices = vert.vertices; pcl_vert.vertices = vert.vertices;
} }
inline inline
void toPCL(const std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts) void toPCL(const std::vector<pcl_msgs::msg::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
{ {
pcl_verts.resize(verts.size()); pcl_verts.resize(verts.size());
std::vector<pcl_msgs::Vertices>::const_iterator it = verts.begin(); std::vector<pcl_msgs::msg::Vertices>::const_iterator it = verts.begin();
std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin(); std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) { for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
toPCL(*(it), *(jt)); toPCL(*(it), *(jt));
@ -402,16 +408,16 @@ namespace pcl_conversions {
} }
inline inline
void moveToPCL(pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert) void moveToPCL(pcl_msgs::msg::Vertices &vert, pcl::Vertices &pcl_vert)
{ {
pcl_vert.vertices.swap(vert.vertices); pcl_vert.vertices.swap(vert.vertices);
} }
inline inline
void moveToPCL(std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts) void moveToPCL(std::vector<pcl_msgs::msg::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
{ {
pcl_verts.resize(verts.size()); pcl_verts.resize(verts.size());
std::vector<pcl_msgs::Vertices>::iterator it = verts.begin(); std::vector<pcl_msgs::msg::Vertices>::iterator it = verts.begin();
std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin(); std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) { for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
moveToPCL(*(it), *(jt)); moveToPCL(*(it), *(jt));
@ -421,7 +427,7 @@ namespace pcl_conversions {
/** pcl::PolygonMesh <=> pcl_msgs::PolygonMesh **/ /** pcl::PolygonMesh <=> pcl_msgs::PolygonMesh **/
inline inline
void fromPCL(const pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh) void fromPCL(const pcl::PolygonMesh &pcl_mesh, pcl_msgs::msg::PolygonMesh &mesh)
{ {
fromPCL(pcl_mesh.header, mesh.header); fromPCL(pcl_mesh.header, mesh.header);
fromPCL(pcl_mesh.cloud, mesh.cloud); fromPCL(pcl_mesh.cloud, mesh.cloud);
@ -429,14 +435,14 @@ namespace pcl_conversions {
} }
inline inline
void moveFromPCL(pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh) void moveFromPCL(pcl::PolygonMesh &pcl_mesh, pcl_msgs::msg::PolygonMesh &mesh)
{ {
fromPCL(pcl_mesh.header, mesh.header); fromPCL(pcl_mesh.header, mesh.header);
moveFromPCL(pcl_mesh.cloud, mesh.cloud); moveFromPCL(pcl_mesh.cloud, mesh.cloud);
} }
inline inline
void toPCL(const pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh) void toPCL(const pcl_msgs::msg::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
{ {
toPCL(mesh.header, pcl_mesh.header); toPCL(mesh.header, pcl_mesh.header);
toPCL(mesh.cloud, pcl_mesh.cloud); toPCL(mesh.cloud, pcl_mesh.cloud);
@ -444,7 +450,7 @@ namespace pcl_conversions {
} }
inline inline
void moveToPCL(pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh) void moveToPCL(pcl_msgs::msg::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
{ {
toPCL(mesh.header, pcl_mesh.header); toPCL(mesh.header, pcl_mesh.header);
moveToPCL(mesh.cloud, pcl_mesh.cloud); moveToPCL(mesh.cloud, pcl_mesh.cloud);
@ -457,7 +463,7 @@ namespace pcl {
/** Overload pcl::getFieldIndex **/ /** Overload pcl::getFieldIndex **/
inline int getFieldIndex(const sensor_msgs::PointCloud2 &cloud, const std::string &field_name) inline int getFieldIndex(const sensor_msgs::msg::PointCloud2 &cloud, const std::string &field_name)
{ {
// Get the index we need // Get the index we need
for (size_t d = 0; d < cloud.fields.size(); ++d) { for (size_t d = 0; d < cloud.fields.size(); ++d) {
@ -470,7 +476,7 @@ namespace pcl {
/** Overload pcl::getFieldsList **/ /** Overload pcl::getFieldsList **/
inline std::string getFieldsList(const sensor_msgs::PointCloud2 &cloud) inline std::string getFieldsList(const sensor_msgs::msg::PointCloud2 &cloud)
{ {
std::string result; std::string result;
for (size_t i = 0; i < cloud.fields.size () - 1; ++i) { for (size_t i = 0; i < cloud.fields.size () - 1; ++i) {
@ -483,7 +489,7 @@ namespace pcl {
/** Provide pcl::toROSMsg **/ /** Provide pcl::toROSMsg **/
inline inline
void toROSMsg(const sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image) void toROSMsg(const sensor_msgs::msg::PointCloud2 &cloud, sensor_msgs::msg::Image &image)
{ {
pcl::PCLPointCloud2 pcl_cloud; pcl::PCLPointCloud2 pcl_cloud;
pcl_conversions::toPCL(cloud, pcl_cloud); pcl_conversions::toPCL(cloud, pcl_cloud);
@ -493,7 +499,7 @@ namespace pcl {
} }
inline inline
void moveToROSMsg(sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image) void moveToROSMsg(sensor_msgs::msg::PointCloud2 &cloud, sensor_msgs::msg::Image &image)
{ {
pcl::PCLPointCloud2 pcl_cloud; pcl::PCLPointCloud2 pcl_cloud;
pcl_conversions::moveToPCL(cloud, pcl_cloud); pcl_conversions::moveToPCL(cloud, pcl_cloud);
@ -503,7 +509,7 @@ namespace pcl {
} }
template<typename T> void template<typename T> void
toROSMsg (const pcl::PointCloud<T> &cloud, sensor_msgs::Image& msg) toROSMsg (const pcl::PointCloud<T> &cloud, sensor_msgs::msg::Image& msg)
{ {
// Ease the user's burden on specifying width/height for unorganized datasets // Ease the user's burden on specifying width/height for unorganized datasets
if (cloud.width == 0 && cloud.height == 0) if (cloud.width == 0 && cloud.height == 0)
@ -532,10 +538,10 @@ namespace pcl {
} }
} }
/** Provide to/fromROSMsg for sensor_msgs::PointCloud2 <=> pcl::PointCloud<T> **/ /** Provide to/fromROSMsg for sensor_msgs::msg::PointCloud2 <=> pcl::PointCloud<T> **/
template<typename T> template<typename T>
void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::PointCloud2 &cloud) void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::msg::PointCloud2 &cloud)
{ {
pcl::PCLPointCloud2 pcl_pc2; pcl::PCLPointCloud2 pcl_pc2;
pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2); pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
@ -543,7 +549,7 @@ namespace pcl {
} }
template<typename T> template<typename T>
void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud) void fromROSMsg(const sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{ {
pcl::PCLPointCloud2 pcl_pc2; pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(cloud, pcl_pc2); pcl_conversions::toPCL(cloud, pcl_pc2);
@ -551,7 +557,7 @@ namespace pcl {
} }
template<typename T> template<typename T>
void moveFromROSMsg(sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud) void moveFromROSMsg(sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{ {
pcl::PCLPointCloud2 pcl_pc2; pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::moveToPCL(cloud, pcl_pc2); pcl_conversions::moveToPCL(cloud, pcl_pc2);
@ -561,7 +567,7 @@ namespace pcl {
/** Overload pcl::createMapping **/ /** Overload pcl::createMapping **/
template<typename PointT> template<typename PointT>
void createMapping(const std::vector<sensor_msgs::PointField>& msg_fields, MsgFieldMap& field_map) void createMapping(const std::vector<sensor_msgs::msg::PointField>& msg_fields, MsgFieldMap& field_map)
{ {
std::vector<pcl::PCLPointField> pcl_msg_fields; std::vector<pcl::PCLPointField> pcl_msg_fields;
pcl_conversions::toPCL(msg_fields, pcl_msg_fields); pcl_conversions::toPCL(msg_fields, pcl_msg_fields);
@ -573,7 +579,7 @@ namespace pcl {
/** Overload pcl::io::savePCDFile **/ /** Overload pcl::io::savePCDFile **/
inline int inline int
savePCDFile(const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, savePCDFile(const std::string &file_name, const sensor_msgs::msg::PointCloud2 &cloud,
const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
const bool binary_mode = false) const bool binary_mode = false)
@ -584,7 +590,7 @@ namespace pcl {
} }
inline int inline int
destructiveSavePCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud, destructiveSavePCDFile(const std::string &file_name, sensor_msgs::msg::PointCloud2 &cloud,
const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
const bool binary_mode = false) const bool binary_mode = false)
@ -596,7 +602,7 @@ namespace pcl {
/** Overload pcl::io::loadPCDFile **/ /** Overload pcl::io::loadPCDFile **/
inline int loadPCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud) inline int loadPCDFile(const std::string &file_name, sensor_msgs::msg::PointCloud2 &cloud)
{ {
pcl::PCLPointCloud2 pcl_cloud; pcl::PCLPointCloud2 pcl_cloud;
int ret = pcl::io::loadPCDFile(file_name, pcl_cloud); int ret = pcl::io::loadPCDFile(file_name, pcl_cloud);
@ -609,9 +615,9 @@ namespace pcl {
/** Overload asdf **/ /** Overload asdf **/
inline inline
bool concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1, bool concatenatePointCloud (const sensor_msgs::msg::PointCloud2 &cloud1,
const sensor_msgs::PointCloud2 &cloud2, const sensor_msgs::msg::PointCloud2 &cloud2,
sensor_msgs::PointCloud2 &cloud_out) sensor_msgs::msg::PointCloud2 &cloud_out)
{ {
//if one input cloud has no points, but the other input does, just return the cloud with points //if one input cloud has no points, but the other input does, just return the cloud with points
if (cloud1.width * cloud1.height == 0 && cloud2.width * cloud2.height > 0) if (cloud1.width * cloud1.height == 0 && cloud2.width * cloud2.height > 0)
@ -655,7 +661,7 @@ namespace pcl {
if (strip) if (strip)
{ {
// Get the field sizes for the second cloud // Get the field sizes for the second cloud
std::vector<sensor_msgs::PointField> fields2; std::vector<sensor_msgs::msg::PointField> fields2;
std::vector<int> fields2_sizes; std::vector<int> fields2_sizes;
for (size_t j = 0; j < cloud2.fields.size (); ++j) for (size_t j = 0; j < cloud2.fields.size (); ++j)
{ {
@ -717,14 +723,16 @@ namespace pcl {
} // namespace pcl } // namespace pcl
/* TODO when ROS2 type masquareding is implemented */
/**
namespace ros namespace ros
{ {
template<> template<>
struct DefaultMessageCreator<pcl::PCLPointCloud2> struct DefaultMessageCreator<pcl::PCLPointCloud2>
{ {
boost::shared_ptr<pcl::PCLPointCloud2> operator() () std::shared_ptr<pcl::PCLPointCloud2> operator() ()
{ {
boost::shared_ptr<pcl::PCLPointCloud2> msg(new pcl::PCLPointCloud2()); std::shared_ptr<pcl::PCLPointCloud2> msg(new pcl::PCLPointCloud2());
return msg; return msg;
} }
}; };
@ -734,51 +742,53 @@ namespace ros
template<> template<>
struct MD5Sum<pcl::PCLPointCloud2> struct MD5Sum<pcl::PCLPointCloud2>
{ {
static const char* value() { return MD5Sum<sensor_msgs::PointCloud2>::value(); } static const char* value() { return MD5Sum<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); } static const char* value(const pcl::PCLPointCloud2&) { return value(); }
static const uint64_t static_value1 = MD5Sum<sensor_msgs::PointCloud2>::static_value1; static const uint64_t static_value1 = MD5Sum<sensor_msgs::msg::PointCloud2>::static_value1;
static const uint64_t static_value2 = MD5Sum<sensor_msgs::PointCloud2>::static_value2; static const uint64_t static_value2 = MD5Sum<sensor_msgs::msg::PointCloud2>::static_value2;
// If the definition of sensor_msgs/PointCloud2 changes, we'll get a compile error here. // If the definition of sensor_msgs/PointCloud2 changes, we'll get a compile error here.
ROS_STATIC_ASSERT(static_value1 == 0x1158d486dd51d683ULL); static_assert(static_value1 == 0x1158d486dd51d683ULL);
ROS_STATIC_ASSERT(static_value2 == 0xce2f1be655c3c181ULL); static_assert(static_value2 == 0xce2f1be655c3c181ULL);
}; };
template<> template<>
struct DataType<pcl::PCLPointCloud2> struct DataType<pcl::PCLPointCloud2>
{ {
static const char* value() { return DataType<sensor_msgs::PointCloud2>::value(); } static const char* value() { return DataType<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); } static const char* value(const pcl::PCLPointCloud2&) { return value(); }
}; };
template<> template<>
struct Definition<pcl::PCLPointCloud2> struct Definition<pcl::PCLPointCloud2>
{ {
static const char* value() { return Definition<sensor_msgs::PointCloud2>::value(); } static const char* value() { return Definition<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); } static const char* value(const pcl::PCLPointCloud2&) { return value(); }
}; };
template<> struct HasHeader<pcl::PCLPointCloud2> : TrueType {}; template<> struct HasHeader<pcl::PCLPointCloud2> : std::true_type {};
} // namespace ros::message_traits } // namespace message_filters::message_traits
namespace serialization namespace serialization
{ {
**/
/* /*
* Provide a custom serialization for pcl::PCLPointCloud2 * Provide a custom serialization for pcl::PCLPointCloud2
*/ */
/**
template<> template<>
struct Serializer<pcl::PCLPointCloud2> struct Serializer<pcl::PCLPointCloud2>
{ {
template<typename Stream> template<typename Stream>
inline static void write(Stream& stream, const pcl::PCLPointCloud2& m) inline static void write(Stream& stream, const pcl::PCLPointCloud2& m)
{ {
std_msgs::Header header; std_msgs::msg::Header header;
pcl_conversions::fromPCL(m.header, header); pcl_conversions::fromPCL(m.header, header);
stream.next(header); stream.next(header);
stream.next(m.height); stream.next(m.height);
stream.next(m.width); stream.next(m.width);
std::vector<sensor_msgs::PointField> pfs; std::vector<sensor_msgs::msg::PointField> pfs;
pcl_conversions::fromPCL(m.fields, pfs); pcl_conversions::fromPCL(m.fields, pfs);
stream.next(pfs); stream.next(pfs);
stream.next(m.is_bigendian); stream.next(m.is_bigendian);
@ -791,12 +801,12 @@ namespace ros
template<typename Stream> template<typename Stream>
inline static void read(Stream& stream, pcl::PCLPointCloud2& m) inline static void read(Stream& stream, pcl::PCLPointCloud2& m)
{ {
std_msgs::Header header; std_msgs::msg::Header header;
stream.next(header); stream.next(header);
pcl_conversions::toPCL(header, m.header); pcl_conversions::toPCL(header, m.header);
stream.next(m.height); stream.next(m.height);
stream.next(m.width); stream.next(m.width);
std::vector<sensor_msgs::PointField> pfs; std::vector<sensor_msgs::msg::PointField> pfs;
stream.next(pfs); stream.next(pfs);
pcl_conversions::toPCL(pfs, m.fields); pcl_conversions::toPCL(pfs, m.fields);
stream.next(m.is_bigendian); stream.next(m.is_bigendian);
@ -810,12 +820,12 @@ namespace ros
{ {
uint32_t length = 0; uint32_t length = 0;
std_msgs::Header header; std_msgs::msg::Header header;
pcl_conversions::fromPCL(m.header, header); pcl_conversions::fromPCL(m.header, header);
length += serializationLength(header); length += serializationLength(header);
length += 4; // height length += 4; // height
length += 4; // width length += 4; // width
std::vector<sensor_msgs::PointField> pfs; std::vector<sensor_msgs::msg::PointField> pfs;
pcl_conversions::fromPCL(m.fields, pfs); pcl_conversions::fromPCL(m.fields, pfs);
length += serializationLength(pfs); // fields length += serializationLength(pfs); // fields
length += 1; // is_bigendian length += 1; // is_bigendian
@ -828,10 +838,11 @@ namespace ros
return length; return length;
} }
}; };
**/
/* /*
* Provide a custom serialization for pcl::PCLPointField * Provide a custom serialization for pcl::PCLPointField
*/ */
/**
template<> template<>
struct Serializer<pcl::PCLPointField> struct Serializer<pcl::PCLPointField>
{ {
@ -865,17 +876,18 @@ namespace ros
return length; return length;
} }
}; };
**/
/* /*
* Provide a custom serialization for pcl::PCLHeader * Provide a custom serialization for pcl::PCLHeader
*/ */
/**
template<> template<>
struct Serializer<pcl::PCLHeader> struct Serializer<pcl::PCLHeader>
{ {
template<typename Stream> template<typename Stream>
inline static void write(Stream& stream, const pcl::PCLHeader& m) inline static void write(Stream& stream, const pcl::PCLHeader& m)
{ {
std_msgs::Header header; std_msgs::msg::Header header;
pcl_conversions::fromPCL(m, header); pcl_conversions::fromPCL(m, header);
stream.next(header); stream.next(header);
} }
@ -883,7 +895,7 @@ namespace ros
template<typename Stream> template<typename Stream>
inline static void read(Stream& stream, pcl::PCLHeader& m) inline static void read(Stream& stream, pcl::PCLHeader& m)
{ {
std_msgs::Header header; std_msgs::msg::Header header;
stream.next(header); stream.next(header);
pcl_conversions::toPCL(header, m); pcl_conversions::toPCL(header, m);
} }
@ -892,7 +904,7 @@ namespace ros
{ {
uint32_t length = 0; uint32_t length = 0;
std_msgs::Header header; std_msgs::msg::Header header;
pcl_conversions::fromPCL(m, header); pcl_conversions::fromPCL(m, header);
length += serializationLength(header); length += serializationLength(header);
@ -900,8 +912,7 @@ namespace ros
} }
}; };
} // namespace ros::serialization } // namespace ros::serialization
} // namespace ros } // namespace ros
**/
#endif /* PCL_CONVERSIONS_H__ */ #endif /* PCL_CONVERSIONS_H__ */

29
pcl_conversions/package.xml
View File

@ -5,9 +5,13 @@
<description>Provides conversions from PCL data types and ROS message types</description> <description>Provides conversions from PCL data types and ROS message types</description>
<author email="william@osrfoundation.org">William Woodall</author> <author email="william@osrfoundation.org">William Woodall</author>
<author email="paul@bovbel.com">Paul Bovbel</author>
<author email="bill@neautomation.com">Bill Morris</author>
<author email="ankl@kth.se">Andreas Klintberg</author>
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer> <maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
<maintainer email="www.kentaro.wada@gmail.com">Kentaro Wada</maintainer> <maintainer email="www.kentaro.wada@gmail.com">Kentaro Wada</maintainer>
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<license>BSD</license> <license>BSD</license>
@ -15,20 +19,19 @@
<url type="repository">https://github.com/ros-perception/perception_pcl</url> <url type="repository">https://github.com/ros-perception/perception_pcl</url>
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url> <url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<build_export_depend>eigen</build_export_depend> <depend>eigen</depend>
<build_export_depend>libpcl-all-dev</build_export_depend> <depend>libpcl-all-dev</depend>
<build_export_depend>pcl_msgs</build_export_depend> <depend>message_filters</depend>
<build_export_depend>roscpp</build_export_depend> <depend>pcl_msgs</depend>
<build_export_depend>sensor_msgs</build_export_depend> <depend>rclcpp</depend>
<build_export_depend>std_msgs</build_export_depend> <depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<test_depend>eigen</test_depend> <test_depend>ament_cmake_gtest</test_depend>
<test_depend>libpcl-all-dev</test_depend>
<test_depend>pcl_msgs</test_depend>
<test_depend>roscpp</test_depend>
<test_depend>sensor_msgs</test_depend>
<test_depend>std_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package> </package>

46
pcl_conversions/test/test_pcl_conversions.cpp
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@ -41,21 +41,21 @@ protected:
} }
pcl::PCLImage pcl_image; pcl::PCLImage pcl_image;
sensor_msgs::Image image; sensor_msgs::msg::Image image;
pcl::PCLPointCloud2 pcl_pc2; pcl::PCLPointCloud2 pcl_pc2;
sensor_msgs::PointCloud2 pc2; sensor_msgs::msg::PointCloud2 pc2;
}; };
template<class T> template<class T>
void test_image(T &image) { void test_image(T &image) {
EXPECT_EQ(std::string("pcl"), image.header.frame_id); EXPECT_EQ(std::string("pcl"), image.header.frame_id);
EXPECT_EQ(1, image.height); EXPECT_EQ(1U, image.height);
EXPECT_EQ(2, image.width); EXPECT_EQ(2U, image.width);
EXPECT_EQ(1, image.step); EXPECT_EQ(1U, image.step);
EXPECT_TRUE(image.is_bigendian); EXPECT_TRUE(image.is_bigendian);
EXPECT_EQ(std::string("bgr8"), image.encoding); EXPECT_EQ(std::string("bgr8"), image.encoding);
EXPECT_EQ(2, image.data.size()); EXPECT_EQ(2U, image.data.size());
EXPECT_EQ(0x42, image.data[0]); EXPECT_EQ(0x42, image.data[0]);
EXPECT_EQ(0x43, image.data[1]); EXPECT_EQ(0x43, image.data[1]);
} }
@ -71,21 +71,21 @@ TEST_F(PCLConversionTests, imageConversion) {
template<class T> template<class T>
void test_pc(T &pc) { void test_pc(T &pc) {
EXPECT_EQ(std::string("pcl"), pc.header.frame_id); EXPECT_EQ(std::string("pcl"), pc.header.frame_id);
EXPECT_EQ(1, pc.height); EXPECT_EQ(1U, pc.height);
EXPECT_EQ(2, pc.width); EXPECT_EQ(2U, pc.width);
EXPECT_EQ(1, pc.point_step); EXPECT_EQ(1U, pc.point_step);
EXPECT_EQ(1, pc.row_step); EXPECT_EQ(1U, pc.row_step);
EXPECT_TRUE(pc.is_bigendian); EXPECT_TRUE(pc.is_bigendian);
EXPECT_TRUE(pc.is_dense); EXPECT_TRUE(pc.is_dense);
EXPECT_EQ("XYZ", pc.fields[0].name); EXPECT_EQ("XYZ", pc.fields[0].name);
EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[0].datatype); EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[0].datatype);
EXPECT_EQ(3, pc.fields[0].count); EXPECT_EQ(3U, pc.fields[0].count);
EXPECT_EQ(0, pc.fields[0].offset); EXPECT_EQ(0U, pc.fields[0].offset);
EXPECT_EQ("RGB", pc.fields[1].name); EXPECT_EQ("RGB", pc.fields[1].name);
EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[1].datatype); EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[1].datatype);
EXPECT_EQ(3, pc.fields[1].count); EXPECT_EQ(3U, pc.fields[1].count);
EXPECT_EQ(8 * 3, pc.fields[1].offset); EXPECT_EQ(8U * 3U, pc.fields[1].offset);
EXPECT_EQ(2, pc.data.size()); EXPECT_EQ(2U, pc.data.size());
EXPECT_EQ(0x42, pc.data[0]); EXPECT_EQ(0x42, pc.data[0]);
EXPECT_EQ(0x43, pc.data[1]); EXPECT_EQ(0x43, pc.data[1]);
} }
@ -103,10 +103,10 @@ TEST_F(PCLConversionTests, pointcloud2Conversion) {
struct StampTestData struct StampTestData
{ {
const ros::Time stamp_; const rclcpp::Time stamp_;
ros::Time stamp2_; rclcpp::Time stamp2_;
explicit StampTestData(const ros::Time &stamp) explicit StampTestData(const rclcpp::Time &stamp)
: stamp_(stamp) : stamp_(stamp)
{ {
pcl::uint64_t pcl_stamp; pcl::uint64_t pcl_stamp;
@ -118,27 +118,27 @@ struct StampTestData
TEST(PCLConversionStamp, Stamps) TEST(PCLConversionStamp, Stamps)
{ {
{ {
const StampTestData d(ros::Time(1.000001)); const StampTestData d(rclcpp::Time(1, 1000));
EXPECT_TRUE(d.stamp_==d.stamp2_); EXPECT_TRUE(d.stamp_==d.stamp2_);
} }
{ {
const StampTestData d(ros::Time(1.999999)); const StampTestData d(rclcpp::Time(1, 999999000));
EXPECT_TRUE(d.stamp_==d.stamp2_); EXPECT_TRUE(d.stamp_==d.stamp2_);
} }
{ {
const StampTestData d(ros::Time(1.999)); const StampTestData d(rclcpp::Time(1, 999000000));
EXPECT_TRUE(d.stamp_==d.stamp2_); EXPECT_TRUE(d.stamp_==d.stamp2_);
} }
{ {
const StampTestData d(ros::Time(1423680574, 746000000)); const StampTestData d(rclcpp::Time(1423680574, 746000000));
EXPECT_TRUE(d.stamp_==d.stamp2_); EXPECT_TRUE(d.stamp_==d.stamp2_);
} }
{ {
const StampTestData d(ros::Time(1423680629, 901000000)); const StampTestData d(rclcpp::Time(1423680629, 901000000));
EXPECT_TRUE(d.stamp_==d.stamp2_); EXPECT_TRUE(d.stamp_==d.stamp2_);
} }
} }

0
pcl_ros/COLCON_IGNORE Normal file
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6
perception_pcl/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.5)
project(perception_pcl) project(perception_pcl)
find_package(catkin REQUIRED) find_package(ament_cmake REQUIRED)
catkin_metapackage() ament_package()

0
perception_pcl/COLCON_IGNORE Normal file
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10
perception_pcl/package.xml
View File

@ -1,4 +1,6 @@
<package format="2"> <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>perception_pcl</name> <name>perception_pcl</name>
<version>1.6.2</version> <version>1.6.2</version>
<description> <description>
@ -20,13 +22,13 @@
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url> <url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
<url type="repository">https://github.com/ros-perception/perception_pcl</url> <url type="repository">https://github.com/ros-perception/perception_pcl</url>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>pcl_conversions</exec_depend> <exec_depend>pcl_conversions</exec_depend>
<exec_depend>pcl_msgs</exec_depend> <exec_depend>pcl_msgs</exec_depend>
<exec_depend>pcl_ros</exec_depend> <!--<exec_depend>pcl_ros</exec_depend>-->
<export> <export>
<metapackage/> <build_type>ament_cmake</build_type>
</export> </export>
</package> </package>