As ROS2 rclcpp Component [#162]

[roncapat]

See [#162].

This produced a new target: odometry_component, while odometry_node is then automagically generated by rclcpp_components_register_node CMake macro.

[nachovizzo]

Amazing! Thanks for the contribution. Some minor comments and ready to merge

[roncapat]

Let me know if the open points were all addressed from me or not. We're also doing some testing before recommending a merge.

EDIT: tested successfully on our side

[roncapat]

@nachovizzo another thing... to reduce overhead and really leverage IPC while publishing PointClouds, the code shall instantiate PointClouds as std::unique_ptrs and then moved to the IPC manager by doing publish(std::move(your-point-cloud-here)). This may required some additional work around util.hpp file, so we may want to tackle it in a separate issue/PR later on IMHO.

[nachovizzo]

@nachovizzo another thing... to reduce overhead and really leverage IPC while publishing PointClouds, the code shall instantiate PointClouds as std::unique_ptrs and then moved to the IPC manager by doing publish(std::move(your-point-cloud-here)). This may required some additional work around util.hpp file, so we may want to tackle it in a separate issue/PR later on IMHO.

I guess it makes sense to do it on a separate MR. Great suggestion

[nachovizzo]

Let me know if the open points were all addressed from me or not. We're also doing some testing before recommending a merge.

EDIT: tested successfully on our side

Everything looks good to me. I won't be able to test this myself until next Thursday. So I guess it will be blocked, at least, until then.

Thanks again for putting the effort into this! highly appreciatged

[roncapat]

@nachovizzo did you have the chance to test?

[nachovizzo]

@roncapat not really! Sorry for the slowness, this week we are also at ICRA. So likely to test it next week. But I'm definitely going to look at it!

[nachovizzo]

@roncapat I Tested in 3 datasets on my end and works like a charm!

If you encountered any issues, please let me know.

Thanks a lot for the contribution and bringing this to KISS-ICP!