This file describes the work done and steps to perform test on the laser_assembler package with bouncy release.

"https://github.com/vandanamandlik/laser_assembler/tree/ros2-devel"

ROS2 Migration changes

The basic concept and design are same as ROS1.
Work Done by referring ROS1 hydro-devel branch of laser_assembler package.
All changes for migration have been done as per Migration guide.
	Migrated all header and source files into ROS2 style
	Migrated yaml files into ROS2 style
	Migrated .launch file into launch.py in ROS2 style
	Migrated CMakeLists.txt and package.xml in ROS2 style

Dependencies

filters
laser_geometry
message_filters
launch

Build packages

mkdir test_laser_assembler

Build filters package
	Go to test_laser_assembler directory
	mkdir filters_ws
	mkdir filters_ws/src
	cd filters_ws/src
	git clone https://github.com/swatifulzele/filters.git -b ros2_devel
	Go to filters_ws directory.
	source /opt/ros/bouncy/setup.bash
	colcon build

Build laser_geometry package
	Go to test_laser_assembler directory
	mkdir laser_geometry_ws
	mkdir laser_geometry_ws/src
	cd laser_geometry_ws/src
	git clone https://github.com/vandanamandlik/laser_geometry.git -b ros2-devel(laser_geometry package was not having PointCloud1 support so I have added it here.)
	Go to laser_geometry_ws directory.
	colcon build

Build message_filters package
	Go to test_laser_assembler directory
	mkdir message_filters_ws
	mkdir message_filters_ws/src
	cd message_filters_ws/src
	git clone https://github.com/vandanamandlik/ros2_message_filters.git -b ros2-devel(Fixed error: FrameId is not a member of message_filters::message_traits)
	Go to message_filters_ws directory.
	colcon build

Build launch package
	Go to test_laser_assembler directory
	mkdir launch_ws
	mkdir launch_ws/src
	cd launch_ws/src
	git clone https://github.com/ros2/launch.git -b master
	Go to launch_ws directory.
	colcon build

Build laser_assembler
	Go to test_laser_assembler directory
	mkdir laser_assembler_ws
	mkdir laser_assembler_ws/src
	git clone https://github.com/vandanamandlik/laser_assembler.git -b ros2-devel
	Go to laser_assembler_ws
	source <filters's setup.bash file path> (eg. source filters_ws/install/setup.sh)
	source <message_filters's setup.bash file path>
	source <laser_geometry's setup.bash file path>
	colcon build

Do the test

Here launch files are used independently.
Following are the steps to run the test cases independently:

1.  Set the path
	Go to laser_assembler_ws
	source /opt/ros/bouncy/setup.bash
	source ./install/setup.bash 
	source <launch packge setup.bash file path> (source ../launch_ws/install/setup.bash)

2. To run non_zero_point_cloud_test
	ros2 launch laser_assembler test_laser_assembler.launch.py

Limitations

colcon test does not work as launch.py files can not be executed/added with CMakeLists.txt as of now.