Migrate pcl_ros::SACSegmentation to ROS 2 #510
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Rayman
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Sep 22, 2025
| // match the timestamps exactly | ||
| auto sensor_qos_profile = rclcpp::SensorDataQoS().keep_last(max_queue_size_); | ||
| sub_input_filter_.subscribe(this, "input", sensor_qos_profile.get_rmw_qos_profile()); | ||
| sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile.get_rmw_qos_profile()); |
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In rolling they removed the api method that uses a rmw_qos_profile_t. So you can just directly pass the rclcpp::Qos object to subscribe.
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right! I removed it
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Init the migration of some
segmentationcomponents with thepcl_ros::SACSegmentation.Relates to #225
Future Improvements:
Given the quantity of boilerplate code that I had to duplicate from
filter.hppand that will be required in other segmentation Components as well, what about including it in thepcl_node.hpp?I refer to members like:
use_frame_params()input_indices_callback()createPublishers()unsubscribe()subscribe()computePublish()