Discuss how to use PointCloud message with additional fields
We have decided in the Autonomy Software WG that we will use point_cloud_msg_wrapper to access pointcloud messages to have efficient data access, and the library requires the pointcloud data to have x,y,z,intensity
data structure.
However, there are uses cases where we want to use other data fields:
- ego motion distortion correction: requires timestamp field
- ring_outlier_filter (#917): outlier filtering using ring information
There could be other fields required for other uses cases coming from the other users, and we should decide how we should handle with such demands.