Remove PCL dependency - Githubissues

SteveMacenski / nonpersistent_voxel_layer

ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable

http://wiki.ros.org/nonpersistent_voxel_grid

BSD 3-Clause "New" or "Revised" License

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Remove PCL dependency #19

Closed reinzor closed 3 years ago

reinzor commented 3 years ago

Hi,

Would you accept a PR where we remove the dependency on PCL ([1], [2])? When I install this package on a clean ros:noetic-ros-base image, it tries to install 2260 MB and I figured out it is due to the PCL dependencies.

As far as I can see, PCL is only used here for converting the pointcloud2 message to a c++ structure we can work with but this can also be done using the PointCloud2Iterator in the sensor_msgs package.

What do you think?

reinzor commented 3 years ago

I see you already implemented a workaround for this in the ros2 branch. However, in order to sync the ros1 / ros2 branches, I also created a PR for ros2 for removing the PCL deps.

SteveMacenski commented 3 years ago

Sounds good to me, I have no issue with that.