[ROS2] Add support for lidar intensity #737
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Signed-off-by: Aleksander Kamiński <[email protected]>
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Signed-off-by: Aleksander Kamiński <[email protected]>
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@michalpelka I've used the pointcloud iterators as you've suggested. They simplified the code a lot and are much more easier to work with. I just wish that the message modifier would allow for more robust builder-like configuration (something similar to how o3de handles edit contexts). |
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Signed-off-by: Aleksander Kamiński <[email protected]>
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Signed-off-by: Aleksander Kamiński <[email protected]>
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What does this PR do?
This pr introduces lidar intensity data support for the ROS2 Lidar Sensor Component (does not implement this feature for the ROS2 Lidar 2D Sensor Component) . It also modifies point-cloud publishing as intensity is an optional feature and may not be provided by every lidar implementation (eg. Scene queries). For more information about the intensity capabilities and component support see the RGL gem intensity support pull request.
Note: Due to #719 and future instance segmentation integration this part of the ROS2 Lidar Sensor will soon have to be updated (see #736).
How was this PR tested?
This feature was tested on Mesh Components with and without the Material Components and on Terrain Components. Since this feature is only supported by the RGL gem, it was tested with a custom RGL gem test project (and a different closed-source project).