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The current laser_geometry package fails to set the 'count' members of sensor_msgs::PointCloud2::fields in projectLaser(). When using PCL 1.6 (not 1.5!) this causes incompatibility when converting PointCloud2s created from the laser package to native PCL pointclouds.

I wouldn't mind sending in a proposed patch sometime later but it isn't exactly spelled out how to go about contributing to official stacks.


Originally posted by jdlangs on ROS Answers with karma: 971 on 2012-09-17

Post score: 0


Original comments

Comment by Chad Rockey on 2012-09-17:
Could you please clarify what you mean by 'count' field? Is it missing a 'channel', such as x or intensity? Are the settings for point.step or row.step incorrect? Are the height and width incorrect?

Comment by jdlangs on 2012-09-18:
It's the 'count' member which is within each channel. (http://ros.org/doc/api/sensor_msgs/html/msg/PointField.html) If it's not set, it defaults to zero, and pcl 1.6 assumes non-zero counts in each channel.

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If you submit a ticket at code.ros.org and attach the patch, the maintainers should integrate it eventually.


Originally posted by Dan Lazewatsky with karma: 9115 on 2012-09-17

This answer was ACCEPTED on the original site

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Original comments

Comment by jdlangs on 2012-09-17:
Do ros answers credentials work there?

Comment by Eric Perko on 2012-09-17:
No, you must create a separate account.

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