feat: convenience API for compressing PointCloud2 + CMake improvements#58
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feat: convenience API for compressing PointCloud2 + CMake improvements#58facontidavide merged 1 commit intomainfrom
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Add SerializeCompressedPointCloud2() and ConvertToRosPointCloud2() to allow users to compress sensor_msgs::msg::PointCloud2 without the topic_converter node. Includes test_direct_publisher example node and CLAUDE.md documentation. Also removes redundant PCL_INCLUDE_DIRS from test_cloudini_subscriber target. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
Cloudini::SerializeCompressedPointCloud2()andCloudini::ConvertToRosPointCloud2()convenience functions so users can compresssensor_msgs::msg::PointCloud2directly in their code without the topic_converter nodetest_direct_publisherexample node demonstrating the new API with zero-copy publishpcl_rosdependency with directPCL COMPONENTS common io— lighter deps, proper ament export targetsament_export_targets()for correct downstream CMake consumptionpackage.xml:libpcl-common+libpcl-ioreplacepcl_ros@bried→@brieftypo and include style (<>→""for project-local headers)Alternative to #56 — cherry-picks the useful parts and fixes the extra memcpy, name collision risk, and undocumented borrowing semantics. Also incorporates the CMake/package improvements from #55.
Test plan
cmake --build build_release --parallel— core lib compilesctest— all existing tests pass (1/1)colcon build --packages-select cloudini_lib cloudini_ros— ROS packages compile (CI)test_direct_publisherwith a PointCloud2 source to verify end-to-end compression🤖 Generated with Claude Code