Added point_cloud_transport_py #26
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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
| @@ -151,12 +151,24 @@ class PointCloudTransport : public PointCloudTransportLoader | |||
| return ret; | |||
| } | |||
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| //! Advertise a PointCloud2 topic, simple version. | |||
| POINT_CLOUD_TRANSPORT_PUBLIC | |||
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Is this necessary, considering the existing definition of advertise on line 167 below?
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Ah is this to make the python binding easier?
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yes, it's to simplify things
| self.transport_publishers[transport].publish(compressed_buffer) | ||
| else: | ||
| self.get_logger().error('Error encoding message!') | ||
| # for transport, transport_info in self.topics_to_publish.items(): |
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I think you need to uncomment this for loop, right?
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publisher.py and subscriber.py should be removed. This functionality is available from pybind11
| &point_cloud_transport::Publisher::getNumSubscribers, | ||
| "Returns the number of subscribers this publisher is connected to.") | ||
| .def("shutdown", &point_cloud_transport::Publisher::shutdown, | ||
| "Unsubscribe the callback associated with this Publisher.") |
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Can you reword this please?
| .def("advertise", | ||
| pybind11::overload_cast<const std::string &, uint32_t>( | ||
| &point_cloud_transport::PointCloudTransport::advertise)); | ||
| // TODO(ahcorde) |
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Just noting that i am ok with merging without addressing this TODO. But could you please make an issue pointing to the TODO so we dont forget about it?
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Sorry for the big refactoring
The idea is to split the current package in two.
Examples included in this PR ros-perception/point_cloud_transport_tutorial#5