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fix: cherry pick hotfix PRs for beta v0.1.0 #7

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merged 2 commits into from
Feb 1, 2022
Merged

fix: cherry pick hotfix PRs for beta v0.1.0 #7

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d741ae5
fix: point cloud conversion logic (#308)
0x126 Jan 28, 2022
fd61066
fix(web controller): remove rosbridge launch from web_controller laun…
yabuta Jan 31, 2022
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3 changes: 0 additions & 3 deletions common/web_controller/launch/web_controller.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,8 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Web Controller -->

<executable cmd="python3 -m http.server 8085" cwd="$(find-pkg-share web_controller)/www" name="web_server"/>
<node pkg="rosbridge_server" exec="rosbridge_websocket" name="rosbridge_server_node">
</node>
</launch>
2 changes: 1 addition & 1 deletion ...reprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_data_nodelet.hpp
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Expand Up @@ -149,7 +149,7 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
PointCloud2::SharedPtr & out);
void publish();

void removeRADTFields(
void convertToXYZICloud(
const sensor_msgs::msg::PointCloud2 & input_cloud,
sensor_msgs::msg::PointCloud2 & output_cloud);
void setPeriod(const int64_t new_period);
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25 changes: 6 additions & 19 deletions sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
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Expand Up @@ -298,26 +298,13 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void PointCloudConcatenateDataSynchronizerComponent::removeRADTFields(
void PointCloudConcatenateDataSynchronizerComponent::convertToXYZICloud(
const sensor_msgs::msg::PointCloud2 & input_cloud, sensor_msgs::msg::PointCloud2 & output_cloud)
{
bool has_intensity = std::any_of(
input_cloud.fields.begin(), input_cloud.fields.end(),
[](auto & field) { return field.name == "intensity"; });

if (input_cloud.fields.size() == 3 || (input_cloud.fields.size() == 4 && has_intensity)) {
output_cloud = input_cloud;
} else if (has_intensity) {
pcl::PointCloud<PointXYZI> tmp_cloud;
pcl::fromROSMsg(input_cloud, tmp_cloud);
pcl::toROSMsg(tmp_cloud, output_cloud);
output_cloud.header = input_cloud.header;
} else {
pcl::PointCloud<pcl::PointXYZ> tmp_cloud;
pcl::fromROSMsg(input_cloud, tmp_cloud);
pcl::toROSMsg(tmp_cloud, output_cloud);
output_cloud.header = input_cloud.header;
}
pcl::PointCloud<PointXYZI> tmp_cloud;
pcl::fromROSMsg(input_cloud, tmp_cloud);
pcl::toROSMsg(tmp_cloud, output_cloud);
output_cloud.header = input_cloud.header;
}

void PointCloudConcatenateDataSynchronizerComponent::setPeriod(const int64_t new_period)
Expand All @@ -342,7 +329,7 @@ void PointCloudConcatenateDataSynchronizerComponent::cloud_callback(
std::lock_guard<std::mutex> lock(mutex_);

sensor_msgs::msg::PointCloud2 xyz_cloud;
removeRADTFields(*input_ptr, xyz_cloud);
convertToXYZICloud(*input_ptr, xyz_cloud);
sensor_msgs::msg::PointCloud2::ConstSharedPtr xyz_input_ptr(
new sensor_msgs::msg::PointCloud2(xyz_cloud));

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