ROS Index
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point_cloud_transport package from point_cloud_transport repopoint_cloud_transport point_cloud_transport_py |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.18 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-perception/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-09-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Alejandro Hernández
- John D'Angelo
Authors
- Jakub Paplham
README
No README found.
See repository README.
CHANGELOG
Changelog for package point_cloud_transport
1.0.18 (2024-05-16)
- [rolling] Get user specified parameters at startup (#80) (#83) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit 90c603a1e8fb56c3203ff6870e4f2205c37e59b4) Co-authored-by: john-maidbot <<78750993+john-maidbot@users.noreply.github.com>>
- Rename the republish_node to pc_republish_node. (#75) (#77) The major reason for this is that image_transport already has a republish_node, and when we are building for distribution we can't have two files named /opt/ros/rolling/lib/librepublish_node.so Rename this one to libpc_republish_node, which should remove the conflict. Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>
- Contributors: Alejandro Hernández Cordero, mergify[bot]
1.0.17 (2023-03-26)
- Cleanup republisher (#58) (#70) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Improve Windows support (#50) (#61)
- Fixed MacOS M1 build (#57) (#59)
- Contributors: Alejandro Hernández Cordero, john-maidbot
1.0.16 (2023-02-19)
- Change tl_expected for rcpputils (#48) (#54)
- Clean CMake (#49) (#53)
- Contributors: Alejandro Hernández Cordero
1.0.15 (2023-12-12)
- Fixed draco subscriber parameter names (#43) (#44) (cherry picked from commit 48cd0ced3dcf12d13bf648a903d691355480b18b) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: mergify[bot]
1.0.14 (2023-10-05)
- Fix param name (#39) (#40) (cherry picked from commit 7acc9458dbfd75dcb4e8e2c984fd16e5d5d5aac8) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Fixed param name (#36) (#37) (cherry picked from commit 851434a59ef2de7bccb1a46e27882c0480534289) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: mergify[bot]
1.0.13 (2023-09-20)
- feat: replace third party expected with ros package (#32) (#33) (cherry picked from commit d13b7a2feb63c82cbd619a99a7eed7c95f9ac558) Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>>
- Contributors: mergify[bot], Daisuke Nishimatsu
1.0.12 (2023-09-18)
- ROS2 port
- Contributors: Alejandro Hernández Cordero, John D'Angelo
1.0.11 (2023-06-16)
- Fixed bad_expected_access error when pointcloud encoding fails.
- Added known transports to readme.
- Update README.md
- Contributors: Martin Pecka
1.0.10 (2023-05-24)
- Fixed wrong dependency version.
- Contributors: Martin Pecka
1.0.9 (2023-05-23)
- Fixed bad_expected_access bug in simple_subscriber_plugin.
- Contributors: Martin Pecka
1.0.8 (2023-05-15)
- Upstreamed NumberAllocator to cras_py_common.
- Contributors: Martin Pecka
1.0.7 (2023-05-15)
- Upstreamed Python support functions to cras_py_common v 2.2.1.
- Contributors: Martin Pecka
1.0.6 (2023-05-15)
- Split Python API into several files.
- Improved Python API to allow the pub/sub-like usage.
- Contributors: Martin Pecka
1.0.5 (2023-05-12)
- Fixed bug in republish. Plugin blacklist was acting exactly the opposite way.
- Contributors: Martin Pecka
1.0.4 (2023-05-12)
- Turned republish into a nodelet (but kept its node version).
- Contributors: Martin Pecka
1.0.3 (2023-05-11)
- Added Python API for encode()/decode().
- Contributors: Martin Pecka
1.0.2 (2023-05-11)
- Added possibility to report log messages.
- Contributors: Martin Pecka
1.0.1 (2023-05-11)
- Reworked the idea to include direct encoders/decoders and not only publishers/subscribers.
- Initial cleanup before releasing. No substantial changes made.
- Forked from https://github.com/paplhjak/point_cloud_transport
- Contributors: Jakub Paplham, Martin Pecka, Tomas Petricek
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_ros | |
| ament_lint_common | |
| ament_lint_auto | |
| message_filters | |
| pluginlib | |
| rclcpp_components | |
| rclcpp | |
| rcpputils | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged point_cloud_transport at Robotics Stack Exchange
|
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point_cloud_transport package from point_cloud_transport repopoint_cloud_transport point_cloud_transport_py |
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Package Summary
| Tags | No category tags. |
| Version | 2.0.6 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-perception/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | iron |
| Last Updated | 2024-09-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Alejandro Hernández
- John D'Angelo
Authors
- Jakub Paplham
README
No README found.
See repository README.
CHANGELOG
Changelog for package point_cloud_transport
2.0.6 (2024-05-16)
- [rolling] Get user specified parameters at startup (#80) (#84) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit 90c603a1e8fb56c3203ff6870e4f2205c37e59b4) Co-authored-by: john-maidbot <<78750993+john-maidbot@users.noreply.github.com>>
- Rename the republish_node to pc_republish_node. (#75) (#76) The major reason for this is that image_transport already has a republish_node, and when we are building for distribution we can't have two files named /opt/ros/rolling/lib/librepublish_node.so Rename this one to libpc_republish_node, which should remove the conflict. Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>
- Contributors: Alejandro Hernández Cordero, mergify[bot]
2.0.5 (2023-03-26)
- Cleanup republisher (#58) (#71) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Improve Windows support (#50) (#62)
- Fixed MacOS M1 build (#57) (#60)
- Contributors: Alejandro Hernández Cordero, john-maidbot
2.0.4 (2023-02-14)
- Change tl_expected for rcpputils (#48) (#52)
- Clean CMake (#49) (#51)
- Contributors: Alejandro Hernández Cordero
2.0.3 (2023-12-12)
- Fixed draco subscriber parameter names (#43) (#45) (cherry picked from commit 48cd0ced3dcf12d13bf648a903d691355480b18b) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: mergify[bot]
2.0.2 (2023-10-05)
- Fix param name (#39) (#41) (cherry picked from commit 7acc9458dbfd75dcb4e8e2c984fd16e5d5d5aac8) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Fixed param name (#36) (#38) (cherry picked from commit 851434a59ef2de7bccb1a46e27882c0480534289) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: mergify[bot]
2.0.1 (2023-09-20)
- feat: replace third party expected with ros package (#32) (#34) (cherry picked from commit d13b7a2feb63c82cbd619a99a7eed7c95f9ac558) Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>>
- fix: modify wrong install for header (#30)
- Contributors: Daisuke Nishimatsu, mergify[bot]
2.0.0 (2023-09-18)
- Removed warning (#28)
- Added point_cloud_transport_py (#26)
- Bug fixes from porting tutorials (#18)
- Use whitelist instead of blacklist (#13)
- Add ThirdParty folder to support building offline without FetchContent (#12)
- Fix pointcloud-codec and python bindings (#3)
- Contributors: Alejandro Hernández Cordero, john-maidbot
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_ros | |
| ament_lint_common | |
| ament_lint_auto | |
| message_filters | |
| pluginlib | |
| rclcpp_components | |
| rclcpp | |
| rcpputils | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged point_cloud_transport at Robotics Stack Exchange
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|
point_cloud_transport package from point_cloud_transport repopoint_cloud_transport point_cloud_transport_py |
|
|
Package Summary
| Tags | No category tags. |
| Version | 4.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-perception/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-09-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Alejandro Hernández
- John D'Angelo
Authors
- Jakub Paplham
README
No README found.
See repository README.
CHANGELOG
Changelog for package point_cloud_transport
4.0.2 (2024-06-27)
- Stop using ament_target_dependencies. (#86) (#87) Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>
4.0.1 (2024-05-24)
- [rolling] Get user specified parameters at startup (#80) (#82) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit 90c603a1e8fb56c3203ff6870e4f2205c37e59b4) Co-authored-by: john-maidbot <<78750993+john-maidbot@users.noreply.github.com>> Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: mergify[bot]
4.0.0 (2024-03-29)
- Rename the republish_node to pc_republish_node. (#75)
- Fixed flake8 errors (#72)
- Added documentation (#69)
- Contributors: Alejandro Hernández Cordero, Chris Lalancette
3.0.5 (2024-03-15)
- Fixed SubscriberFilter linking issue on windows (#64)
- Contributors: Alejandro Hernández Cordero
3.0.4 (2023-02-19)
- Cleanup republisher (#58)
- Fixed clang issues (#55)
- Fixed MacOS M1 build (#57)
- Contributors: Alejandro Hernández Cordero
3.0.3 (2023-02-13)
- Improve Windows support (#50)
- Change tl_expected for rcpputils (#48)
- Clean CMake (#49)
- Contributors: Alejandro Hernández Cordero
3.0.2 (2023-12-12)
- Fixed draco subscriber parameter names (#43)
- Contributors: Alejandro Hernández Cordero
3.0.1 (2023-10-05)
3.0.0 (2023-09-20)
- feat: replace third party expected with ros package (#32)
- fix: modify wrong install for header (#30)
- Contributors: Daisuke Nishimatsu
2.0.0 (2023-09-18)
- Removed warning (#28)
- Added point_cloud_transport_py (#26)
- Bug fixes from porting tutorials (#18)
- Use whitelist instead of blacklist (#13)
- Add ThirdParty folder to support building offline without FetchContent (#12)
- Fix pointcloud-codec and python bindings (#3)
- Contributors: Alejandro Hernández Cordero, john-maidbot
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_ros | |
| ament_lint_common | |
| ament_lint_auto | |
| message_filters | |
| pluginlib | |
| rclcpp_components | |
| rclcpp | |
| rcpputils | |
| rmw | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged point_cloud_transport at Robotics Stack Exchange
|
|
point_cloud_transport package from point_cloud_transport repopoint_cloud_transport point_cloud_transport_py |
|
|
Package Summary
| Tags | No category tags. |
| Version | 5.1.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-perception/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-11-25 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Alejandro Hernández
- John D'Angelo
Authors
- Jakub Paplham
README
No README found.
See repository README.
CHANGELOG
Changelog for package point_cloud_transport
5.1.1 (2024-11-25)
5.1.0 (2024-11-20)
5.0.4 (2024-10-03)
5.0.3 (2024-07-19)
- Updated deprecated message filter headers (#94)
- Contributors: Alejandro Hernández Cordero
5.0.2 (2024-06-17)
5.0.1 (2024-06-14)
- Removed warning (#89)
- republisher: qos override pub and sub (#88)
-
Stop using ament_target_dependencies. (#86) We are slowly moving away from its use, so stop using it here. While we are in here, notice some things that makes this easier: 1. pluginlib is absolutely a public dependency of this package. Because of that, we can just rely on the PUBLIC export of it, and we don't need to link it into every test. But that also means we don't need some of the forward-declarations that were in loader_fwds.hpp, as we can just get those through the header file. 2. republish.hpp doesn't really need to exist at all. That's because it is only a header file, but the implementation is in an executable. Thus, no downstream could ever use it. So just remove the file and put the declaration straight into the cpp file.
- Contributors: Alejandro Hernández Cordero, Chris Lalancette
5.0.0 (2024-05-13)
- [rolling] Get user specified parameters at startup (#80) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: john-maidbot
4.1.0 (2024-04-30)
4.0.0 (2024-03-29)
- Rename the republish_node to pc_republish_node. (#75)
- Fixed flake8 errors (#72)
- Added documentation (#69)
- Contributors: Alejandro Hernández Cordero, Chris Lalancette
3.0.5 (2024-03-15)
- Fixed SubscriberFilter linking issue on windows (#64)
- Contributors: Alejandro Hernández Cordero
3.0.4 (2023-02-19)
- Cleanup republisher (#58)
- Fixed clang issues (#55)
- Fixed MacOS M1 build (#57)
- Contributors: Alejandro Hernández Cordero
3.0.3 (2023-02-13)
- Improve Windows support (#50)
- Change tl_expected for rcpputils (#48)
- Clean CMake (#49)
- Contributors: Alejandro Hernández Cordero
3.0.2 (2023-12-12)
- Fixed draco subscriber parameter names (#43)
- Contributors: Alejandro Hernández Cordero
3.0.1 (2023-10-05)
3.0.0 (2023-09-20)
- feat: replace third party expected with ros package (#32)
- fix: modify wrong install for header (#30)
- Contributors: Daisuke Nishimatsu
2.0.0 (2023-09-18)
- Removed warning (#28)
- Added point_cloud_transport_py (#26)
- Bug fixes from porting tutorials (#18)
- Use whitelist instead of blacklist (#13)
- Add ThirdParty folder to support building offline without FetchContent (#12)
- Fix pointcloud-codec and python bindings (#3)
- Contributors: Alejandro Hernández Cordero, john-maidbot
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_ros | |
| ament_lint_common | |
| ament_lint_auto | |
| message_filters | |
| pluginlib | |
| rclcpp_components | |
| rclcpp | |
| rcpputils | |
| rmw | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged point_cloud_transport at Robotics Stack Exchange
|
|
point_cloud_transport package from point_cloud_transport repopoint_cloud_transport |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ctu-vras/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-06-16 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Martin Pecka
Authors
- Jakub Paplham
point_cloud_transport
Description
point_cloud_transport is a ROS package for subscribing to and publishing PointCloud2 messages via different transport layers. E.g. it can provide support for transporting point clouds in low-bandwidth environment using Draco compression library.
point_cloud_transport is released as C++ source code and binary packages via ROS buildfarm.
Usage
point_cloud_transport can be used to publish and subscribe to PointCloud2 messages. At this level of usage, it is similar to using ROS Publishers and Subscribers. Using point_cloud_transport instead of the ROS primitives, however, gives the user much greater flexibility in how point clouds are communicated between nodes.
For complete examples of publishing and subscribing to point clouds using point_cloud_transport , see Tutorial.
C++
Communicating PointCloud2 messages using point_cloud_transport:
#include <ros/ros.h>
#include <point_cloud_transport/point_cloud_transport.h>
void Callback(const sensor_msgs::PointCloud2ConstPtr& msg)
{
// ... process the message
}
ros::NodeHandle nh;
point_cloud_transport::PointCloudTransport pct(nh);
point_cloud_transport::Subscriber sub = pct.subscribe("in_point_cloud_base_topic", 1, Callback);
point_cloud_transport::Publisher pub = pct.advertise("out_point_cloud_base_topic", 1);
Republish node(let)
Similar to image_transport, this package provides a node(let) called republish that can convert between different transports. It can be used in a launch file in the following way:
<node name="republish" pkg="point_cloud_transport" type="republish" args="draco raw in:=input_topic out:=output_topic" />
Known transports
- draco_point_cloud_transport: Lossy compression via Google Draco library.
- Did you write one? Don’t hesitate and send a pull request adding it to this list!
Authors
- Jakub Paplhám - Initial work - paplhjak
- Ing. Tomáš Petříček, Ph.D. - Supervisor - tpet
- Martin Pecka - Maintainer - peci1
License
This project is licensed under the BSD License - see the LICENSE file for details.
Acknowledgments
- image_transport - Provided template of plugin interface
- Draco - Provided compression functionality
Support
For questions/comments please email the maintainer mentioned in package.xml.
If you have found an error in this package, please file an issue at: https://github.com/ctu-vras/point_cloud_transport/issues
Patches are encouraged, and may be submitted by forking this project and submitting a pull request through GitHub. Any help is further development of the project is much appreciated.
CHANGELOG
Changelog for package point_cloud_transport
1.0.11 (2023-06-16)
- Fixed bad_expected_access error when pointcloud encoding fails.
- Added known transports to readme.
- Update README.md
- Contributors: Martin Pecka
1.0.10 (2023-05-24)
- Fixed wrong dependency version.
- Contributors: Martin Pecka
1.0.9 (2023-05-23)
- Fixed bad_expected_access bug in simple_subscriber_plugin.
- Contributors: Martin Pecka
1.0.8 (2023-05-15)
- Upstreamed NumberAllocator to cras_py_common.
- Contributors: Martin Pecka
1.0.7 (2023-05-15)
- Upstreamed Python support functions to cras_py_common v 2.2.1.
- Contributors: Martin Pecka
1.0.6 (2023-05-15)
- Split Python API into several files.
- Improved Python API to allow the pub/sub-like usage.
- Contributors: Martin Pecka
1.0.5 (2023-05-12)
- Fixed bug in republish. Plugin blacklist was acting exactly the opposite way.
- Contributors: Martin Pecka
1.0.4 (2023-05-12)
- Turned republish into a nodelet (but kept its node version).
- Contributors: Martin Pecka
1.0.3 (2023-05-11)
- Added Python API for encode()/decode().
- Contributors: Martin Pecka
1.0.2 (2023-05-11)
- Added possibility to report log messages.
- Contributors: Martin Pecka
1.0.1 (2023-05-11)
- Reworked the idea to include direct encoders/decoders and not only publishers/subscribers.
- Initial cleanup before releasing. No substantial changes made.
- Forked from https://github.com/paplhjak/point_cloud_transport
- Contributors: Jakub Paplham, Martin Pecka, Tomas Petricek
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged point_cloud_transport at Robotics Stack Exchange
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|
|
point_cloud_transport package from point_cloud_transport repopoint_cloud_transport |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ctu-vras/point_cloud_transport.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-06-16 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
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Package Description
Support for transporting PointCloud2 messages in compressed format and plugin interface for implementing additional PointCloud2 transports.
Additional Links
Maintainers
- Martin Pecka
Authors
- Jakub Paplham
point_cloud_transport
Description
point_cloud_transport is a ROS package for subscribing to and publishing PointCloud2 messages via different transport layers. E.g. it can provide support for transporting point clouds in low-bandwidth environment using Draco compression library.
point_cloud_transport is released as C++ source code and binary packages via ROS buildfarm.
Usage
point_cloud_transport can be used to publish and subscribe to PointCloud2 messages. At this level of usage, it is similar to using ROS Publishers and Subscribers. Using point_cloud_transport instead of the ROS primitives, however, gives the user much greater flexibility in how point clouds are communicated between nodes.
For complete examples of publishing and subscribing to point clouds using point_cloud_transport , see Tutorial.
C++
Communicating PointCloud2 messages using point_cloud_transport:
#include <ros/ros.h>
#include <point_cloud_transport/point_cloud_transport.h>
void Callback(const sensor_msgs::PointCloud2ConstPtr& msg)
{
// ... process the message
}
ros::NodeHandle nh;
point_cloud_transport::PointCloudTransport pct(nh);
point_cloud_transport::Subscriber sub = pct.subscribe("in_point_cloud_base_topic", 1, Callback);
point_cloud_transport::Publisher pub = pct.advertise("out_point_cloud_base_topic", 1);
Republish node(let)
Similar to image_transport, this package provides a node(let) called republish that can convert between different transports. It can be used in a launch file in the following way:
<node name="republish" pkg="point_cloud_transport" type="republish" args="draco raw in:=input_topic out:=output_topic" />
Known transports
- draco_point_cloud_transport: Lossy compression via Google Draco library.
- Did you write one? Don’t hesitate and send a pull request adding it to this list!
Authors
- Jakub Paplhám - Initial work - paplhjak
- Ing. Tomáš Petříček, Ph.D. - Supervisor - tpet
- Martin Pecka - Maintainer - peci1
License
This project is licensed under the BSD License - see the LICENSE file for details.
Acknowledgments
- image_transport - Provided template of plugin interface
- Draco - Provided compression functionality
Support
For questions/comments please email the maintainer mentioned in package.xml.
If you have found an error in this package, please file an issue at: https://github.com/ctu-vras/point_cloud_transport/issues
Patches are encouraged, and may be submitted by forking this project and submitting a pull request through GitHub. Any help is further development of the project is much appreciated.
CHANGELOG
Changelog for package point_cloud_transport
1.0.11 (2023-06-16)
- Fixed bad_expected_access error when pointcloud encoding fails.
- Added known transports to readme.
- Update README.md
- Contributors: Martin Pecka
1.0.10 (2023-05-24)
- Fixed wrong dependency version.
- Contributors: Martin Pecka
1.0.9 (2023-05-23)
- Fixed bad_expected_access bug in simple_subscriber_plugin.
- Contributors: Martin Pecka
1.0.8 (2023-05-15)
- Upstreamed NumberAllocator to cras_py_common.
- Contributors: Martin Pecka
1.0.7 (2023-05-15)
- Upstreamed Python support functions to cras_py_common v 2.2.1.
- Contributors: Martin Pecka
1.0.6 (2023-05-15)
- Split Python API into several files.
- Improved Python API to allow the pub/sub-like usage.
- Contributors: Martin Pecka
1.0.5 (2023-05-12)
- Fixed bug in republish. Plugin blacklist was acting exactly the opposite way.
- Contributors: Martin Pecka
1.0.4 (2023-05-12)
- Turned republish into a nodelet (but kept its node version).
- Contributors: Martin Pecka
1.0.3 (2023-05-11)
- Added Python API for encode()/decode().
- Contributors: Martin Pecka
1.0.2 (2023-05-11)
- Added possibility to report log messages.
- Contributors: Martin Pecka
1.0.1 (2023-05-11)
- Reworked the idea to include direct encoders/decoders and not only publishers/subscribers.
- Initial cleanup before releasing. No substantial changes made.
- Forked from https://github.com/paplhjak/point_cloud_transport
- Contributors: Jakub Paplham, Martin Pecka, Tomas Petricek
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
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