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ros-perception / laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.
BSD 3-Clause "New" or "Revised" License
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ROS 2 pcl_ros dependencies does not exist #103

Closed Patrick-Lascombe closed 3 years ago

Patrick-Lascombe commented 3 years ago

Hello everyone,

In the ROS2 branch, the point_cloud_footprint_filter include "pcl_ros/transforms.hpp". But pcl_ros does not exist anymore in ros2 foxy. So the package does not pass the compilation.

Is anyone having the same problem as me ? Or do I simply comment the include and plugin lib export in pointcloud_filters to pass the compilation ?

Thanks for your help

jonbinney commented 3 years ago

Good question. I haven't actually used this package in foxy. @hangst did you get things working on foxy?

hangst commented 3 years ago

The pcl_ros package does have a foxy-devel branch. I believe it is not released as binary, so you will have to compile from sources manually.

Alternatively, as you mentioned, if you are not planning to use scan_to_cloud_filter_chain, you may modify CMakelists.txt and package.xml to compile without pcl_ros. 

ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
# ament_auto_add_library(pointcloud_filters SHARED src/pointcloud_filters.cpp)

set(FILTER_CHAINS
    # scan_to_cloud_filter_chain
    scan_to_scan_filter_chain
    # generic_laser_filter_node
)
<depend>rostime</depend>
<!--<depend>pcl_ros</depend>-->
<depend>rclcpp_lifecycle</depend>
Patrick-Lascombe commented 3 years ago

Alright I'll keep it commented for now Thanks for your help