add roslibrust ros1 message support - #24
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…st is Time secs/nsecs
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I did get it to work by copying the From code directly into my application and adapting it to useros_pointcloud2::... instead of crate::: lucasw/transform_point_cloud@813792c |
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…th, and using roslibrust_util for roslibrust message definitions
… to update the noetic one to use 22.04
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@lucasw I invite you to test out the new version 1.0.0-rc.1 with roslibrust support for your existing work with point clouds. I think this PR could be closed with the new version. |
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It's a copy paste of the rosrust code but with Time secs/nsecs changed to fit Time in roslibrust.
But I can't get it to work in an example here: https://github.com/lucasw/transform_point_cloud/blob/96595aa00a58b882a40f4cba7d2d33e278a17bb2/src/bin/transform_point_cloud2.rs
But then I get
error[E0277]: the trait bound `PointCloud2Msg: From<sensor_msgs::PointCloud2>` is not satisfied --> src/bin/transform_point_cloud2.rs:124:75 | 124 | let pc: ros_pointcloud2::PointCloud2Msg = pc2_msg.into(); // .try_into_iter().unwrap(); | ^^^^ the trait `From<sensor_msgs::PointCloud2>` is not implemented for `PointCloud2Msg` | = help: the trait `From<ros_pointcloud2::prelude::sensor_msgs::PointCloud2>` is implemented for `PointCloud2Msg` = help: for that trait implementation, expected `ros_pointcloud2::prelude::sensor_msgs::PointCloud2`, found `sensor_msgs::PointCloud2` = note: required for `sensor_msgs::PointCloud2` to implement `Into<PointCloud2Msg>`The roslibrust codegen macro created messages for rpcl2, and then again for transform_point_cloud- I've done something similar with roslibrust and https://github.com/lucasw/rustros_tf/tree/roslibrust and https://github.com/lucasw/tf_demo/blob/old_tf_to_new_tf/src/bin/tf2tf.rs and didn't encounter anything like this.
If I don't do any codegen in my code and try to use ros_pointcloud2::prelude::sensor_msgs::PointCloud2 then I get