ROS2 support

[christianlandgraf]

Hi,

out of interest: Are there any plans to provide ROS2 support for the scancontrol sensors? :)

[dave992]

At the moment we do not have any plans to port the driver to ROS 2 in the near future.

It should however not be very hard to do, as this driver is in essence just a wrapper around their SDK.

[christianlandgraf]

I started to migrate the driver to ROS2: https://github.com/christianlandgraf/scancontrol/tree/ros2-devel
It managed to receive data from a scanCONTROL 2900-100 device.
I didn't touch the Nodelet part and some of the tests, yet. Since the pcl_ros package is not fully available in ROS2, I had to add another Point Cloud format conversion. Although it still published the data with 100 hz in my first tests, I am not sure if this may lead to perfomance issues in more comprehensive tests.

Since I am completely new to ROS2, there also might exists further improvements...

[christianlandgraf]

If you are interested, I could further finish the work and merge it into a "ros2" branch in this repository ( I guess it shouldn't be merged into the master branch)

[dave992]

We would be open to that for sure, I can make a new branch for this and if your changes are ready you can submit an MR that we can review. Thanks!

[nikhil-sethi]

Check out branch ros2-devel. The port of ROS2 is being actively worked on with new features