107 lines
4.7 KiB
Markdown
107 lines
4.7 KiB
Markdown
<p align="center">
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<h3 align="center">ROS PointCloud2</h3>
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<p align="center">A PointCloud2 message conversion library.</p>
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<p align="center"><a href="https://crates.io/crates/ros_pointcloud2"><img src="https://img.shields.io/crates/v/ros_pointcloud2.svg" alt=""></a> <a href="https://github.com/stelzo/ros_pointcloud2/tree/main/tests"><img src="https://github.com/stelzo/ros_pointcloud2/actions/workflows/tests.yml/badge.svg" alt=""></a>
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</p>
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</p>
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ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
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Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.1/) for a complete guide.
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## Quickstart
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```rust
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use ros_pointcloud2::prelude::*;
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// PointXYZ (and many others) are provided by the crate.
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let cloud_points = vec![
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PointXYZI::new(91.486, -4.1, 42.0001, 0.1),
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PointXYZI::new(f32::MAX, f32::MIN, f32::MAX, f32::MIN),
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];
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let out_msg = PointCloud2Msg::try_from_vec(cloud_points).unwrap();
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// Convert the ROS crate message type, we will use r2r here.
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// let msg: r2r::sensor_msgs::msg::PointCloud2 = out_msg.into();
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// Publish ...
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// ... now incoming from a topic.
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// let in_msg: PointCloud2Msg = msg.into();
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let in_msg = out_msg;
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let processed_cloud = in_msg.try_into_iter().unwrap()
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.map(|point: PointXYZ| { // Define the info you want to have from the Msg.
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// Some logic here ...
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point
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})
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.collect::<Vec<_>>();
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```
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## Integrations
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There are currently 3 integrations for common ROS crates.
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- [rosrust_msg](https://github.com/adnanademovic/rosrust)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
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- [r2r_msg](https://github.com/sequenceplanner/r2r)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_jazzy.yml)
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- [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml)
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- [](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_jazzy.yml)
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You can use `rosrust` and `r2r` by enabling the respective feature:
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```toml
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[dependencies]
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ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
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# or
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ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
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```
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### rclrs (ros2_rust)
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Features do not work properly with `rcrls` because the messages are linked externally. You need to use tags instead:
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```toml
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[dependencies]
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ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.1_rclrs" }
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```
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Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
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```xml
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>builtin_interfaces</depend>
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```
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Please open an issue or PR if you need other integrations.
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## Performance
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This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
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See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
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For minimizing the conversion overhead in general, always use the functions that best fit your use case.
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### License
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<sup>
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Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
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2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
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</sup>
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<br>
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<sub>
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Unless you explicitly state otherwise, any contribution intentionally submitted
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for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
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be dual licensed as above, without any additional terms or conditions.
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</sub>
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