ROS PointCloud2
Customizable conversions to and from the PointCloud2 ROS message.
Providing an easy to use, generics defined, point-wise iterator abstraction over the byte buffer in `PointCloud2` to minimize iterations in your processing pipeline.
To keep the crate a general purpose library for the problem and support ROS1 and ROS2, it uses its own type for the message `PointCloud2Msg`.
## Examples
```rust
use ros_pointcloud2::{
pcl_utils::PointXYZ, reader::ReaderXYZ, writer::WriterXYZ, PointCloud2Msg,
};
// Your points (here using the predefined type PointXYZ).
let cloud_points = vec![
PointXYZ {x: 91.486, y: -4.1, z: 42.0001,},
PointXYZ {x: f32::MAX, y: f32::MIN, z: f32::MAX,},
];
// For equality test later
let cloud_copy = cloud_points.clone();
// Vector -> Writer -> Message.
// You can also just give the Vec or anything that implements `IntoIterator`.
let internal_msg: PointCloud2Msg = WriterXYZ::from(cloud_points.into_iter())
.try_into() // iterating points here O(n)
.unwrap();
// Convert to your ROS crate message type, we will use r2r here.
// let msg: r2r::sensor_msgs::msg::PointCloud2 = internal_msg.into();
// Publish ...
// ... now incoming from a topic.
// let internal_msg: PointCloud2Msg = msg.into();
// Message -> Reader -> your pipeline. The Reader implements the Iterator trait.
let reader = ReaderXYZ::try_from(internal_msg).unwrap();
let new_cloud_points = reader
.map(|point: PointXYZ| {
// Some logic here
point
})
.collect::>(); // iterating points here O(n)
assert_eq!(new_cloud_points, cloud_copy);
```
## Integrations
There are currently 3 integrations for common ROS crates.
- [rosrust_msg](https://github.com/adnanademovic/rosrust)
- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
- [r2r_msg](https://github.com/sequenceplanner/r2r)
- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
- [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml)
- [](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
std_msgs
sensor_msgs
builtin_interfaces
```
Please open an issue or PR if you want to see support for other crates.
## Future Work
- Benchmark vs PCL
- Add more predefined types
- Optional derive macros for custom point implementations
## License
[MIT](https://choosealicense.com/licenses/mit/)