Allow for partial access to the data
Currently the point cloud message wrapper only allows reading the data that matches the point structure exactly. This is not always useful. For example, if the code relies on data coming from multiple, say, LiDAR drivers it can become problematic. Let's say that one driver provides data generated from PointXYZIR
points and the other from PointXYZI
points. But what we actually care about PointXYZ
. So it would be nice to be able to read PointXYZ
from each of the other clouds that have XYZ
data and more.