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Migrate pcl_ros::SACSegmentation to ROS 2 #510

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Migrate pcl_ros::SACSegmentation to ROS 2 #510

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d99c319
Migrate pcl_ros::SACSegmentation to ROS 2
AntoBrandi Sep 2, 2025
620d5a9
remove redundant sub_input_filter_
AntoBrandi Sep 2, 2025
1094309
directly pass the rclcpp::Qos object to subscribe
AntoBrandi Sep 22, 2025
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21 changes: 14 additions & 7 deletions pcl_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -137,16 +137,23 @@ rclcpp_components_register_node(pcl_ros_filters
class_loader_hide_library_symbols(pcl_ros_filters)
#
### Declare the pcl_ros_segmentation library
#add_library (pcl_ros_segmentation
add_library (pcl_ros_segmentation SHARED
# src/pcl_ros/segmentation/extract_clusters.cpp
# src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
# src/pcl_ros/segmentation/sac_segmentation.cpp
src/pcl_ros/segmentation/sac_segmentation.cpp
# src/pcl_ros/segmentation/segment_differences.cpp
# src/pcl_ros/segmentation/segmentation.cpp
#)
#target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
#class_loader_hide_library_symbols(pcl_ros_segmentation)
)
target_link_libraries(pcl_ros_segmentation PUBLIC
${PCL_LIBRARIES}
pcl_ros_tf
rclcpp_components::component
)
rclcpp_components_register_node(pcl_ros_segmentation
PLUGIN "pcl_ros::SACSegmentation"
EXECUTABLE segmentation_sac_node
)
class_loader_hide_library_symbols(pcl_ros_segmentation)
#
### Declare the pcl_ros_surface library
#add_library (pcl_ros_surface
Expand Down Expand Up @@ -293,7 +300,7 @@ install(
pcl_ros_filter
pcl_ros_filters
# pcl_ros_surface
# pcl_ros_segmentation
pcl_ros_segmentation
pointcloud_to_pcd_lib
combined_pointcloud_to_pcd_lib
bag_to_pcd_lib
Expand Down
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