ROS2 port

[jonbinney]

Creating this issue as a placeholder for discussions about design decisions when porting to ROS2

[vandanamandlik]

Hi,
I couldn't find point_cloud_conversion.h file in ROS2 sensor_msgs package.
Does anyone know any alternative for this file ?

[jonbinney]

Not sure - if you haven't already, I'd suggest adding an issue on the ROS2 sensor_msgs package, since that is where it would go.

[vandanamandlik]

Hi,
In current laser assembler package there is support for both PointCloud and PointCloud2. So Should I keep it as it is or remove PointCloud support ?

[jonbinney]

It would be good to keep support for both. It looks like ROS2 still has a PointCloud message: https://github.com/ros2/common_interfaces/tree/master/sensor_msgs/msg

The PointCloud message is simpler to use for people who aren't using PCL, since the PointCloud2 is a big binary blob that you have to manually parse.

[vandanamandlik]

As laser assembler package is dependent on filters package, We are also working on filters porting.
So should we create separate discourse thread for filters or comment under laser assembler thread itself ?

[jonbinney]

That should be a separate thread - filters is used in lots of places other than laser_assembler.

[vandanamandlik]

Created separate thread for filters package here https://discourse.ros.org/t/filters-porting-to-ros2/7091

[tonaaskarwur]

Is there any current updates about the ROS2 version of this pkg?

[jonbinney]

This fell off of my radar. I'll take a look later this week.

[Marina-Banov]

Any updates for ROS2?

[lukechencqu]

Currently, only laser_geometry has ros2 version, but when will this laser_assembler will be available for ROS2?

[jonbinney]

Sorry I haven't had time to work on a ROS2 port. If anyone else wants to tackle it, I'm happy to review a PR.

[JSOV2001]

Hi,

I'm using ROS2 Humble for a project. I've been trying to use ros2 branch but It's no working. Can someone help me, please?

This is the error:

CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell

CMake that the project does not need compatibility with older versions.

CMake Error at CMakeLists.txt:11 (find_package):

By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has

asked CMake to find a package configuration file provided by "catkin", but

CMake did not find one.

Could not find a package configuration file provided by "catkin" with any
of the following names:

catkinConfig.cmake

catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
"catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.

---

Failed <<< laser_assembler [0.74s, exited with code 1]

Summary: 0 packages finished [1.04s]

1 package failed: laser_assembler

1 package had stderr output: laser_assembler

1 package not processed

[aarjan222]

hello @JSOV2001 was this problem of yours solved or not because I also needed this package for my project and when I was building with colcon. It failed saying same error as of yours. It might be because the package is instead searching for catkin to build the package.

Had you solved this problem at that time? If you found a solution back then, could you please provide some hints or assistance?

I would be very grateful for your help.
Thank you!