[jsk_pcl/OrganizedStatisticalOutlierRemoval] support several pointcloud type

[knorth55]

this PR supports several point cloud type as xyzirt.
now this nodes only support xyzrgb.

[mqcmd196]

? What happened to CI?

Post job cleanup.
/usr/bin/docker exec  3bc6fc00c[2](https://github.com/jsk-ros-pkg/jsk_recognition/actions/runs/11024597303/job/30618033143?pr=2846#step:11:2)a0cb532a512f8729db5968edbb17067e62fe9ffca5b3e5eb87e008 sh -c "cat /etc/*release | grep ^ID"
/__e/node20/bin/node: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.28' not found (required by /__e/node20/bin/node)

[k-okada]

/workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros/src/organized_statistical_outlier_removal_nodelet.cpp: In member function ?virtual void jsk_pcl_ros::OrganizedStatisticalOutlierRemoval::filterCloud(pcl::PCLPointCloud2::Ptr, pcl::PointIndices::Ptr, bool)?:
/workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros/src/organized_statistical_outlier_removal_nodelet.cpp:170:47: error: no matching function for call to ?pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2>::filter(std::vector<int>&)?
       sor.filter(pcl_indices_filtered->indices);
                                               ^
In file included from /usr/include/pcl-1.8/pcl/filters/filter_indices.h:43:0,
                 from /usr/include/pcl-1.8/pcl/filters/statistical_outlier_removal.h:43,
                 from /workspace/ros/ws_jsk_recognition/src/jsk_recognition/jsk_pcl_ros/src/organized_statistical_outlier_removal_nodelet.cpp:39:
/usr/include/pcl-1.8/pcl/filters/filter.h:238:7: note: candidate: void pcl::Filter<pcl::PCLPointCloud2>::filter(pcl::Filter<pcl::PCLPointCloud2>::PCLPointCloud2&)
       filter (PCLPointCloud2 &output);
       ^~~~~~
/usr/include/pcl-1.8/pcl/filters/filter.h:238:7: note:   no known conversion for argument 1 from ?std::vector<int>? to ?pcl::Filter<pcl::PCLPointCloud2>::PCLPointCloud2& {aka pcl::PCLPointCloud2&}?
make[2]: *** [CMakeFiles/jsk_pcl_ros.dir/src/organized_statistical_outlier_removal_nodelet.cpp.o] Error 1
make[1]: *** [CMakeFiles/jsk_pcl_ros.dir/all] Error 2
make: *** [all] Error 2
cd /workspace/ros/ws_jsk_recognition/build/jsk_pcl_ros; catkin build --get-env jsk_pcl_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

https://github.com/jsk-ros-pkg/jsk_recognition/actions/runs/11564823139/job/32190755001?pr=2846

[knorth55]

😢 pcl-1.9
PointCloudLibrary/pcl#1663

[knorth55]

Run actions/checkout@v2
/usr/bin/docker exec  c3c01c40fd0b135ec9f5458b2a24ada205a0270039fa36574e29b9c29012b6a9 sh -c "cat /etc/*release | grep ^ID"
/__e/node20/bin/node: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.28' not found (required by /__e/node20/bin/node)

GLIBC_2.28 error again :(

[mqcmd196]

GLIBC_2.28 error again :(

Some people point out the same issue. I also can't find the official announcement... https://github.com/orgs/community/discussions/145711

[mqcmd196]

https://github.blog/changelog/2024-09-25-end-of-life-for-actions-node16/

I think we cannot use ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true any more...

[knorth55]

😭
anyway, I changed this PR to support both melodic and noetic.

[knorth55]

as my understanding, we use jenkins for jsk_recognition CI processes, so that GA container's version does not matter for CI processes.
so I'm trying updating the GA container to ubuntu20.04.
(I also think that other repos uses docker on GA container, which means that we can use ubuntu20.04 as well, but I'm not sure.)

#2854

[k-okada]

@knorth55
could you resolve conflicts?

[knorth55]

@k-okada Hi, I resolved the conflict by rebasing this PR.