Velodyne pcl (ros-drivers#335)

* fix time assignment in organized cloud container

* add velodyne_pcl package with point_types.h

* add README.md with infos for conversion

* rename containers to cover the added time property

* Adding roslint to velodyne_pcl. (#1)

* Update CMake version to 3.5

* Update package.xml to Format2 and package version to 1.5.2

* Update ros package format

Co-authored-by: Joshua Whitley <josh.whitley@autoware.org>

velodyne_pcl/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.5)
+project(velodyne_pcl)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(PCL REQUIRED COMPONENTS common)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/velodyne_pcl.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC ${PCL_COMMON_INCLUDE_DIRS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${PCL_LIBRARIES}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
+

velodyne_pcl/README.md

@@ -0,0 +1,32 @@
+## PointCloud2 to PCL PointCloud Conversion
+
+Convert `sensor_msgs::msg::PointCloud2` objects coming from the velodyne_pointcloud driver to `pcl::PointCloud<velodyne_pcl::PointXYZIRT>` objects.
+
+The `sensor_msgs::msg::PointCloud2` ROS message is constructed by using the `PointcloudXYZIRT`, or the `OrganizedCloudXYZIRT` container.
+Both define the following channels:
+
+* x - The x coord in Cartesian coordinates
+* y - The y coord in Cartesian coordinates
+* z - The z coord in Cartesian coordinates
+* intensity - The measured intensity at the point
+* ring - The ring number of the laser
+* time - The time stamp of the measured point
+
+To convert a `sensor_msgs::msg::PointCloud2` published by the velodyne driver to PCL you could use the following code:
+
+```
+#include <pcl_conversions/pcl_conversions.h>
+#include <velodyne_pcl/point_types.hpp>
+#include <pcl/PCLPointCloud2.h>
+#include <pcl/conversions.h>
+
+void cloud_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud){
+
+  pcl::PCLPointCloud2 pcl_pointcloud2;
+  pcl_conversions::toPCL(*cloud, pcl_pointcloud2);
+  pcl::PointCloud<velodyne_pcl::PointXYZIRT>::Ptr pcl_cloud_ptr(new pcl::PointCloud<velodyne_pcl::PointXYZIRT>);
+  pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr);
+
+  // use pcl_cloud_ptr
+}
+```

velodyne_pcl/include/velodyne_pcl/point_types.hpp

@@ -0,0 +1,71 @@
+// Copyright 2012 - 2020 Austin Robot Technology, Jesse Vera, Jack O'Quin, Piyush Khandelwal, Joshua Whitley, Sebastian Pütz  // NOLINT
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+// * Redistributions of source code must retain the above copyright
+//   notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+//   copyright notice, this list of conditions and the following
+//   disclaimer in the documentation and/or other materials provided
+//   with the distribution.
+// * Neither the name of {copyright_holder} nor the names of its
+//   contributors may be used to endorse or promote products derived
+//   from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/** \file
+ *
+ *  Point Cloud Library point structures for Velodyne data.
+ *
+ *  @author Jesse Vera
+ *  @author Jack O'Quin
+ *  @author Piyush Khandelwal
+ *  @author Sebastian Pütz
+ */
+
+#ifndef VELODYNE_PCL__POINT_TYPES_HPP_
+#define VELODYNE_PCL__POINT_TYPES_HPP_
+
+#include <pcl/point_types.h>
+
+namespace velodyne_pcl
+{
+struct PointXYZIRT
+{
+  PCL_ADD_POINT4D;                    // quad-word XYZ
+  float intensity;                    ///< laser intensity reading
+  uint16_t ring;                      ///< laser ring number
+  float time;                         ///< laser time reading
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW     // ensure proper alignment
+}
+EIGEN_ALIGN16;
+}  // namespace velodyne_pcl
+
+// *INDENT-OFF*
+POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pcl::PointXYZIRT,
+                                  (float, x, x)
+                                  (float, y, y)
+                                  (float, z, z)
+                                  (float, intensity, intensity)
+                                  (uint16_t, ring, ring)
+                                  (float, time, time))
+// *INDENT-ON*
+
+#endif  // VELODYNE_PCL__POINT_TYPES_HPP_

velodyne_pcl/package.xml

@@ -0,0 +1,27 @@
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>velodyne_pcl</name>
+  <version>1.5.2</version>
+  <description>The velodyne_pcl package</description>
+
+  <maintainer email="josh.whitley@autoware.org">Josh Whitley</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/velodyne_pcl</url>
+  <url type="repository">https://github.com/ros-drivers/velodyne</url>
+  <url type="bugtracker">https://github.com/ros-drivers/velodyne/issues</url>
+
+  <author>Sebastian Pütz</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>libpcl-all-dev</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

velodyne_pcl/src/velodyne_pcl.cpp

@@ -0,0 +1,33 @@
+// Copyright 2012 - 2020 Austin Robot Technology, Jesse Vera, Jack O'Quin, Piyush Khandelwal, Joshua Whitley, Sebastian Pütz  // NOLINT
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of {copyright_holder} nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "velodyne_pcl/point_types.hpp"