Added support for publishing/subscribing to rosgraph_msgs::Clock messages (potentially on the /clock topic to push/retrieve the ROS simulation time).
Added support for more data type on PointCloud2 additional fields (e.g. reflectivity, velocity...)

Updated management of publisher and subscriber objects.

Nicolas DU LAC authored 1 year ago and Nicolas DU LAC committed 1 year ago

Started to work on publisher refactoring + Moved data_type specific files to subfolders for better clarity.

ROS Bridge for custom data types 1.1.0: the package can now be loaded simultaneously with the standard ROS bridge package in the same RTMaps process.

* ROS node extracted in an RTMaps Core Function module in a separate package (rtmaps_ros_bridge_core_function.pck)
* ROS Clock can now manage correclty the RTMaps clock initalization when ROS is used in playback mode with simulation time acivated.

Fixed MAPSImage output buffer size for CompressedImage type (subscriber)