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yujinrobot / yujin_lidar

all sources for the Yujin lidar
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sensor_msgs/PointCloud verses sensor_msgs/PointCloud2 #2

Open engineeve opened 4 years ago

engineeve commented 4 years ago

When running the yrl_pub node, the/yrl_pub/yrl_cloud I noticed the the message is published as type sensor_msgs/PointCloud rather than sensor_msgs/PointCloud2. As the sensor_msgs/PointCloud message type is depreciated, most of our applications require sensor_msgs/PointCloud2. When integrating the Lidar we are getting quite a few errors similar to the following, for example, when trying to use the pointcloud_to_laserscan package:

[ERROR] [1599058543.516249721]: Client [/pointcloud_to_laserscan] wants topic /yrl_pub/yrl_cloud to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca]. Dropping connection.

Are there any plans to publish the data as PointCloud2 or is there was a particular reason for publishing the topic as PointCloud.

vshlojha commented 4 years ago

I have same question as in why the Data Structure of the Topic is PointCloud. Kindly support for PointCloud2 Data Structure

engineeve commented 4 years ago

Just to give some further context to my previous question - we are looking to only build 2D maps and use the full 3D pointcloud for obstacle avoidance. To do this we will convert the pointcloud to a 2D laserscan which we can not do with the PointCloud message type.

vshlojha commented 4 years ago

@engineeve Actually I was looking it for 3D Slam.

engineeve commented 4 years ago

@vshlojha - I was just giving additional context to the authors the the case there is an alternative route to producing a 2D laser scan. I have added some code to convert the PointCloud to PointCloud2 data structure, I can send to you if you wish. It is not an ideal solution, as the signal is still formatted in PointCloud and then converted to PointCloud2, adding some additional unnecessary computation. It is just a work around until I hear back from the authors.

jykim3 commented 3 years ago

@engineeve @vshlojha Hello. My name is Ju Young Kim, and I am the author of this YRL Library(Linux, Windows, ROS), working as a project manager for LiDAR Team in Yujin Robot. (Sorry for my late reply.)

We have a plan for pointcloud2, but we have not confirmed the date for updates yet.

I will get back to you guys soon, and update you guys releasement dates for new drivers with pointcloud2.

vshlojha commented 3 years ago

Hello @jykim3 When can we expect the release of the point cloud 2 data structure? Also, for now, I am converting it to Point CLoud 2, but will it be different from the version that you are going to release. Waiting for a prompt reply

jykim3 commented 3 years ago

@vshlojha Sorry for my reply being so late. Point Cloud 2 will be ready and released by the midth of November 2020. (Even if it is delayed, it will be released by the end of November 2020.)

jykim3 commented 3 years ago

@vshlojha Releasement date for new SW package supporting Pointcloud2 is now fixed to 30th of Nov. 2020.

jykim3 commented 3 years ago

Hello, @vshlojha I am afraid that the new SW package supporting Pointcloud2 will be released at the End of December 2020. I am sorry to change the date I promised.

jykim3 commented 3 years ago

@vshlojha Hello, ROS driver now supports pointcloud2! (Pointcloud1 is not supported anymore)