[Discourse.ros.org] [Next Generation ROS] ROS2 pcl_perceptions

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[Discourse.ros.org] [Next Generation ROS] ROS2 pcl_perceptions

Pito Salas via ros-users


Hi,

While working with ros2, happen to find pcl_perceptions for one of the algorithms developed useful. But, this
supports only with ros1, is there any plans or already available version of the same which supports ros2 native?

@paulbovbel Could you help or guide?





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[Discourse.ros.org] [Next Generation ROS] ROS2 pcl_perceptions

Pito Salas via ros-users


Porting https://github.com/ros-perception/perception_pcl is a non-trivial effort. Especially it depends on some ROS2 core features that have not been finalized/ported to ROS2 yet. Example: Replace dynamic_reconfigure and its .cfg files, porting filter plugins to components, etc..

Did anyone contact the maintainers asking about their plans? I guess most people are waiting for ROS2 to be more mature to minimize code rewrite/throw-away, especially huge stacks like perception.





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[Discourse.ros.org] [Next Generation ROS] ROS2 pcl_perceptions

Pito Salas via ros-users
In reply to this post by Pito Salas via ros-users


@wjwwood Could you help or guide on this? I wrote an email to you, about the same. I'm ready to put in the effort, but need some initial ideas of for sanity.





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[Discourse.ros.org] [Next Generation ROS] ROS2 pcl_perceptions

Pito Salas via ros-users
In reply to this post by Pito Salas via ros-users


+1, from https://github.com/ros2/ros2/wiki/Roadmap:

pcl_conversions is mainly about type masquerading, which isn't targeted for a release yet.

pcl_ros is primarily input/ouput/pipeline nodes. For porting that, I'd really like to see how (dynamic) parameters and managed nodes shake out in the summer 2018 release.





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