Pointcloud example

[flynneva]

added example that publishes an XYZI pointcloud

[flynneva]

the pointfield creation is a little messy. I tried using the old ROS 1 way but it doesnt seem to be supported just yet.

[sloretz]

@wjwwood friendly ping :)

[flynneva]

would be great to get this example in the next update for foxy.

let me know what else is left to fix/add to be able to get this merged @wjwwood

[flynneva]

@wjwwood, @dirk-thomas, @sloretz....friendly ping 😄

[clalancette]

I've left a few things inline.

Also, I don't think this belongs in executors. That subdirectory is really for showing off how to use the various executors, and this is not one of them. I think it belongs either in topics, or in a new top-level subdirectory.

[flynneva]

@clalancette thanks for the review! i went ahead and implemented your recommendations, following the similar type architecture for the ROS1 pointcloud publisher example.

looks like this example - if following the similar structure for ROS1 - requires the release of this new sensor_msgs_py package. ive done what i can to try and help further that effort along...but this example wont work without the release of that package.

[flynneva]

Also, I don't think this belongs in executors. That subdirectory is really for showing off how to use the various executors, and this is not one of them. I think it belongs either in topics, or in a new top-level subdirectory.

@clalancette would something like a publishers directory make sense? or were you thinking more like an advanced directory?

[clalancette]

I've left one more thing to fix inline.

looks like this example - if following the similar structure for ROS1 - requires the release of this new sensor_msgs_py package.

OK, I just did a review of that one, it needs a bit more work to get in. We can do a release once that one is merged.

@clalancette would something like a publishers directory make sense? or were you thinking more like an advanced directory?

I think what we should do here is make a new subdirectory underneath https://github.com/ros2/examples/tree/master/rclpy/topics called pointcloud_publisher, or something like that. Then put this example in there. Note that this would be a new package, so would need package.xml, setup.cfg, setup.py, etc.

[flynneva]

@clalancette i moved it to its own package under the topics directory like you requested.

compiled & tested using the common_interfaces package mentioned above. works as expected.

[flynneva]

@clalancette CI failing due to missing sensor_msgs_py. i tested it locally now with the new name and it works as expected. also i confirmed no linting/copyright errors and added in backwards compatibility to the flake8 test file with the main_with_errors change.

let me know if there is anything else I can help out with. I noticed there are other linting errors in the other examples, ill see if I can open another PR to fix those sometime soon.

[flynneva]

friendly ping @wjwwood @clalancette. let me know if you'd like anything else changed on this PR before merging

[wjwwood]

I started this review months ago, but for some reason I never posted it... sorry about that.

They may not even apply anymore, but I'll post them just in case.

[wjwwood]

Looks like all my previous comments were already addressed, so lgtm.

[wjwwood]

CI:

• Linux
• Linux-aarch64
• macOS
• Windows

[wjwwood]

@clalancette I think your issues have been addressed can I merge?

[clalancette]

@clalancette I think your issues have been addressed can I merge?

Yes, looks good now, please go ahead and merge.