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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Include option to use PointCloud Transport #4042

Open SteveMacenski opened 10 months ago

SteveMacenski commented 10 months ago

Per https://github.com/ros-perception/point_cloud_transport, we can now use compressed pointcloud streams in ROS 2. We can enable those in the Costmap layers that ingest pointcloud sensor streams (i.e. obstacle, voxel) and the collision monitor and show that this reduces network traffic without composed nodes to keep up better (and CPU impacts).

We would want sensor drivers and depth pipelines to have the option to output this as well to be able to ingest in Nav2 out of the box. Rviz2 + Gazebo would be ideal as well to publish PC2 from Gazebo into Rviz without as much latency

CC @ahcorde

Combuster54 commented 1 month ago

Hi, could you provide more info? I would like to contribute if it´s possible.

xFranv8 commented 1 month ago

I'm taking this issue. Thanks!