On Tue, Sep 20, 2011 at 2:38 PM, Patrick Mihelich <
mihelich@willowgarage.com
> wrote:
> On Mon, Sep 19, 2011 at 10:42 PM, Radu B. Rusu <rusu@willowgarage.com>wrote:
>
>> Yes. PCL 2.0 will definitely get rid of all the ROS-related stuff, but as
>> I said that won't be ready anytime soon realistically. We should not count
>> on this for any ROS release. "It will be ready when it's ready" :)
>
>
> So, it won't be possible to use a system install of PCL 1.1 in ROS Fuerte.
> That's a shame :(. Anyway, I'll send another email about this, as we need a
> Plan B...
>
So far we don't have a workable suggestion for using the system install of
PCL 1.1 in ROS. We're sunk by a circular dependency issue - PCL 1.1 uses
sensor_msgs::PointCloud2 (the ROS message) as a core data type, and
necessarily provides its own conflicting version when used standalone. We'll
just have to continue using a ROS-specific source install of PCL in Fuerte.
Still, we can do a little reorganization to improve the situation for 3d
sensor driver writers. I propose a new stack point_cloud_common, by analogy
with image_common. image_common contains low-dependency packages (no OpenCV)
that camera drivers may use. Similarly, point_cloud_common would contain the
minimum for sensor drivers to publish point clouds in PCL format.
point_cloud_common contains packages:
* pcl_common
- Installs only libpcl_common and a few core headers
* pcl_bridge
- By analogy with cv_bridge
- Contains ROS glue headers pcl/ros/conversions.h, pcl_ros/point_cloud.h
In the perception_pcl stack:
* Package pcl depends on pcl_common, builds all the other libraries
* Package pcl_ros depends on pcl_bridge, builds the PCL nodelets etc.
That shouldn't break anything, and makes possible low-dependency drivers
which communicate efficiently with PCL-using nodelets. Thoughts?
Cheers,
Patrick
On Tue, Sep 20, 2011 at 2:38 PM, Patrick Mihelich <
mihelich@willowgarage.com> wrote:
On Mon, Sep 19, 2011 at 10:42 PM, Radu B. Rusu <
rusu@willowgarage.com> wrote:
Yes. PCL 2.0 will definitely get rid of all the ROS-related stuff, but as I said that won't be ready anytime soon realistically. We should not count on this for any ROS release. "It will be ready when it's ready" :)
So, it won't be possible to use a system install of PCL 1.1 in ROS Fuerte. That's a shame :(. Anyway, I'll send another email about this, as we need a Plan B...So far we don't have a workable suggestion for using the system install of PCL 1.1 in ROS. We're sunk by a circular dependency issue - PCL 1.1 uses sensor_msgs::PointCloud2 (the ROS message) as a core data type, and necessarily provides its own conflicting version when used standalone. We'll just have to continue using a ROS-specific source install of PCL in Fuerte.
Still, we can do a little reorganization to improve the situation for 3d sensor driver writers. I propose a new stack point_cloud_common, by analogy with image_common. image_common contains low-dependency packages (no OpenCV) that camera drivers may use. Similarly, point_cloud_common would contain the minimum for sensor drivers to publish point clouds in PCL format.
point_cloud_common contains packages: * pcl_common - Installs only libpcl_common and a few core headers * pcl_bridge - By analogy with cv_bridge - Contains ROS glue headers pcl/ros/conversions.h, pcl_ros/point_cloud.h
In the perception_pcl stack: * Package pcl depends on pcl_common, builds all the other libraries * Package pcl_ros depends on pcl_bridge, builds the PCL nodelets etc.That shouldn't break anything, and makes possible low-dependency drivers which communicate efficiently with PCL-using nodelets. Thoughts?
Cheers,Patrick
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