Propagate ring information from velodyne_drivers
Description
Packages such as the ring_filter
require the ring information to perform the filtering on the point cloud. Currently, this is not propagated from the velodyne_driver
package so we don't receive a point cloud with the ring information from sensors even if the sensors can output this information.
While the ring information could be calculated, this would require obtaining, storing, and maintaining a large set of configurations for each LiDAR type; it is not scalable. In addition, LiDAR drivers should be capable of providing this information without any further calculation.
Relates to discussions in:
Expected behavior
- Add additional point type (
PointXYZIR
) to output of thevelodyne_driver
package
Definition of Done
-
Define a new point type on the velodyne_drivers
package (PointXYZIR
) -
Propagate information from sensor to the velodyne_driver
packages and publish the point clouds with the new point type