Provide a Groovy implementation so clients can support both Groovy and Hydro

[jack-oquin]

Some client packages would like to support both Groovy with PCL 1.6 and Hydro with PCL 1.7 in the same source branch.

That is currently not possible because pcl_conversions did not exist in Groovy.

If possible, the Groovy implementation should emulate the new Hydro interface, making it clean and easy for client programs to support both.

See: ros-perception/perception_pcl#26.

[wjwwood]

@jack-oquin I have a version for groovy in the groovy-devel branch now. I have also started releasing it, can you give it a try with your packages in groovy?

[jack-oquin]

I have no more time this afternoon and evening, but I'll test it tomorrow, first thing in the morning.

[wjwwood]

@davetcoleman

[davetcoleman]

I've made the changes to gazebo_ros_pkgs to support the new Groovy branch. I'll merge it in once pcl_conversions is released to Groovy public repos.

[jack-oquin]

I checked out the groovy-devel branch along with the master branch of the velodyne repository into a Groovy workspace.

That is the version of the Velodyne driver you modified to work with PCL 1.7. Everything built cleanly and the Velodyne unit tests run successfully.

This will be very helpful. Thanks for doing it.

[wjwwood]

No problem, let me know if you run into any other sticking points.