Can't we get PointXYZIRT point cloud on ROS2-Foxy?

ros-drivers / velodyne

ROS support for Velodyne 3D LIDARs

http://ros.org/wiki/velodyne

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Can't we get PointXYZIRT point cloud on ROS2-Foxy? #447

Closed AtsukiOsanai closed 2 years ago

AtsukiOsanai commented 2 years ago

Please complete the following information:

Ubuntu 20.04
Foxy
Installed from apt
Version: velodyne-driver 2.1.0-1focal.20210901.194418

Request

Now, the foxy branch only supports the point cloud type of XYZIR. I can find them in velodyne_pointcloud/src/lib. However, the latest master branch (yet ROS1) seems to provide XYZIRT point cloud. Do you have a plan to extend XYZIR to XYZIRT on ROS2?

vovo-4K commented 2 years ago

Same problem for ros2-galactic

JWhitleyWork commented 2 years ago

@AtsukiOsanai / @vovo-4K This feature was added by @kaarta-SHanna back in 2019. This is a community-developed driver (I'm just the maintainer) so I would be happy to review a PR adding this feature to the ROS2 version but, AFAIK, there is not anyone currently working on this.