3d Lidar to pointcloud2 and publish about unity-robotics-hub

[mrpropellers]

Hi IronWolf - can you tell me me more about which part of your implementation you are having issues with? Also, is it a requirement that your point cloud be published as a PointCloud2 message, as opposed to PointCloud? PointCloud2 tends to require a deeper understanding of how you're packing your data, and would also require you to convert more ROS message types into C# objects than PointCloud would.

[anshdavid]

Hey @mrpropellers , honestly i am new to ros and robotics. I picked up unity few months ago and was having fun with procedural generation. After reading the blog i got very much interested in robotics and am working on a personal hobby project.

After going over ros's documentation i read The newly revised ROS point cloud message (and currently the de facto standard in PCL), .... I've adapted most off the messaging publishing and subscribing but got stuck with 3d map data , in this case 3D Lidar.

Was hoping to get some pointers on how to tackle this problem.

[anshdavid]

I ended up using pointcloud instead of pointcloud2 at the moment.

[mrpropellers]

Cool! It may be the case that some PCL tools require PointCloud2 messages, but if you don't have a driving need for your experiment to be performative, it'd likely be easier to write a simple transformer on the ROS side of things to subscribe to your PointCloud output from Unity and convert it to PointCloud2. If you're working with the C++ PCL libraries, it's likely a pretty straightforward memcpy to repack the data. Good luck and feel free to reopen if there is something else on the Unity side of things that we need to address!