Oh maybe to add to that... a solution that we currently deployed when it comes to drivers (such as the swissranger), is
to publish both PointCloud and PointCloud2 (see stereo_image_proc), so that might work for you. Just use /points and
/points2, if you want to be consistent to stereo_image_proc. We'll do the same for the laser assembler soon.
Cheers,
Radu.
Radu Bogdan Rusu wrote:
> Well, Josh is right, so Patrick, put differently... I don't see any of
> us spending any more time and effort to develop _new_
> processing/algorithmic capabilities for PointCloud, so if need the new
> processing algorithms that we are currently developing, then you need to
> switch to PointCloud2.
>
> Cheers,
> Radu.
>
> Josh Faust wrote:
>>
>>
>> However, we encourage new users to switch to PointCloud2 and make
>> use of our Point Cloud Library (PCL) for
>> processing. At some point in the future, PointCloud and
>> point_cloud_mapping will be deprecated and removed.
>>
>>
>> No we don't, as neither of them are in the boxturtle release. There
>> are currently no stable libraries built on top of either PointCloud2
>> or PCL, so we continue to recommend using PointCloud for now unless
>> you require bleeding edge capabilities and are willing to live with
>> instability across all the ROS libraries.
>>
>> Josh
>
--
| Radu Bogdan Rusu | http://rbrusu.com/
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