Port the nodelet base class to a ROS2 component node #306
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Most of work comes from PR ros-perception#255/ros-perception#229 by sloretz/klintan
| cloudQoS() const | ||
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| rclcpp::QoS qos(max_queue_size_); | ||
| return qos; | ||
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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It's not clear to me if this is still needed.
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This doesn't add any actual functionality, there's no unit test, and the class is subject to change as other modules come online. I've decided to split it out into its own PR so that work can proceed in parallel on the various sub-packages which derive from the base class |
| tf_listener_(tf_buffer_) | ||
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| rcl_interfaces::msg::ParameterDescriptor desc; |
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This is a really unusual way to declare parameters, can you explain why this is necessary? Why read only?
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To be honest, the reason is because I just took the implementation from pr #255 as a straight copy and didn't think much about it. I'll have to read up on how to declare parameters in ROS2 to do this right.
| typedef ModelCoefficients::ConstSharedPtr ModelCoefficientsConstPtr; | ||
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| /** \brief Constructor. */ | ||
| PCLNode(std::string node_name, const rclcpp::NodeOptions & options) |
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I think to be a component node, that the constructor can only take in options
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same comment as above
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too half baked. Siddarth is taking over the porting of |
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I was trying this out along with enabling filter.cpp. The compilation is going through with a few changes on foxy release. If I just want to test if a some basic filter works what would be the easiest test case? Will I need to write it from scratch? No tests seem to be enabled as of now. |
Most of work comes from PR #255/#229 by sloretz/klintan