PointCloud2 enhancements

[athackst]

Below is an image of a rgbd topic:

• RGB values not shown
• Point size not configurable

[jubeira]

@athackst understood! Just one quick question: have you tried modifying the size parameter below the topic? That one should be working, and the color is indeed missing.

Same pointcloud with different point sizes:

[athackst]

size works as expected (thanks!)

Would still be great to have color/rgb values

[jubeira]

@athackst I've taken a look at this, and it should be possible to display the pointcloud with the current ros3djs according to the RGB values if they are contained in the message.

Just to double check: is this your case? The pointcloud should have a field dedicated to the color in it's field member, e.g.:

fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  - 
    name: "rgb"
    offset: 12
    datatype: 7
    count: 1

The reason I'm asking is because rviz has other options to add colors to a pointcloud, so I'd like to be in the same page. For the record, here's a reference to the code that parses the color from the message.