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2
Cargo.toml
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@ -1,6 +1,6 @@
[package]
name = "ros_pointcloud2"
version = "0.3.2"
version = "0.4.0"
edition = "2021"
authors = ["Christopher Sieh <stelzo@steado.de>"]
description = "Customizable conversions for working with sensor_msgs/PointCloud2."

60
README.md
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@ -61,7 +61,42 @@ let new_cloud_points = convert
assert_eq!(new_cloud_points, cloud_copy);
```
To use `ros_pointcloud2` in your favorite ROS crate, you can either use this crate's features (see Integration section below) or implement the `Into` and `From` traits for `PointCloud2Msg`.
## Integrations
There are currently 3 integrations for common ROS crates.
- [rosrust_msg](https://github.com/adnanademovic/rosrust)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
- [r2r_msg](https://github.com/sequenceplanner/r2r)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
- [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml)
You can use `rosrust` and `r2r` by enabling the respective feature:
```toml
[dependencies]
ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
# or
ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
```
### rclrs (ros2_rust)
Features do not work properly with `rcrls` because the messages are linked externally. You need to use tags instead:
```toml
[dependencies]
ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.4.0_rclrs" }
```
Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
```xml
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>builtin_interfaces</depend>
```
### Others
To use `ros_pointcloud2` somewhere else, you can also implement the `Into` and `From` traits for `PointCloud2Msg`.
Try to avoid cloning the `data: Vec<u8>` field.
```rust
@ -82,29 +117,6 @@ impl From<YourROSPointCloud2> for PointCloud2Msg {
}
```
## Integrations
There are currently 3 integrations for common ROS crates.
- [rosrust_msg](https://github.com/adnanademovic/rosrust)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
- [r2r_msg](https://github.com/sequenceplanner/r2r)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
- [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
- [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
You can use them by enabling the corresponding feature. Example:
```toml
[dependencies]
ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
```
For `rclrs_msg`, features do not work properly because of the way it generates the messages. You need to use tags instead:
```toml
[dependencies]
ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.3.2_rclrs" }
```
Please open an issue or PR if you want to see support for other crates.
## Features