Discussion: Include (donated) type adaptations for pointcloud, images, occupancy grids
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- Dominant language
- C++
- Stars
- 393
- Forks
- 157
- PR merge metrics
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Description
Description
A common use for type adaptations is going to be for very heavy, standard topics like pointcloud, images, occupancy grids. @roncapat has done the heavy lifting on this front in his repo https://github.com/roncapat/ros2_native_adapters/ to support PCL poinclouds OpenCV images, and occupancy grids for type adaptation.
I would like to discuss including this in the common_interfaces repository so that type adaptations are more easily and readily available and folks use the same common implementation.
It seems like it could go in each package (i.e. nav_msgs, sensor_msgs) or a new common_interfaces_type_adaptors to have the set of common adaptors.
Motivation
Have consistent, easy to access type adaptation support for the community to leverage.
Design / Implementation Considerations
No response
Additional Information
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reviewing the referenced ros2_native_adapters repository and the common_interfaces packages, especially nav_msgs and sensor_msgs. Determine whether the adaptations belong in each package or a new common_interfaces_type_adaptors package. Done requires an agreed design and implementation plan for point clouds, images, and occupancy grids.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100