ROS2 Native Adapters

This package provides the following ROS2 type adaptations:

Adapted Message	Native wrapper	Underlying native class	Header	CMake target
sensor_msgs/PointCloud2	StampedPointCloud_PCL	pcl::PointCloud<PointT>	PCL.hpp	native_adapters::pcl_adapters
sensor_msgs/Image	StampedImage_CV	cv::Mat	CV.hpp	native_adapters::cv_adapters
nav_msgs/OccupancyGrid	StampedOccupancyGrid_CV	cv::Mat	CV.hpp	native_adapters::cv_adapters
dem_msgs/DigitalElevationMap	StampedDigitalElevationMap_CV	cv::Mat	CV.hpp	native_adapters::cv_adapters

Wrapper philosophy

Each wrapper class includes at least an std_msgs::Header attribute and a native handle.

Examples

See here.

Pre-commit

This project uses pre-commit. On Ubuntu, install it with:

sudo python3 -m pip install pre-commit

Then, enter the repository root and run :

pre-commit install

Now every time a commit is issued, a number of automated checks are done on code.