Laser_assembler porting to ROS2

Anyone working on porting laser_assembler to ROS2? If not, our team at Persistent System is ready to put the effort in porting laser_assembler to ROS2. Please let us know if anyone has any concern or any vital information that we will help us in this porting effort. If anyone has already started already working on porting laser_assembler, Please let us know if you will be interested to obtain our assistance in the porting effort.
@jon I see that you are the maintainer of this package in ROS, hence I’m tagging you here in this post.


Awesome! I can make a ros2 branch in the repo when you’re ready to PR. I’ve created an issue on the repo for discussion of any design decisions:

@jon, Thank you, Jon for your resposponse. Team has started actively porting (and any development needed) for few of the packages and I’m adding Laser_Assembler in priority list to be taken up next. One quick question, Will it be a straight porting or it will also require development effort?

@prasenjitdan i’m not aware of any major design changes that are needed, but the current design does depend on the “filters” ros package and uses TF. So depending on how different the code is for those packages in ros2, changes may be needed in laser_assembler.

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Hi @jon,

Could you please create ros2 branch in laser_assembler repository , We are ready to give pull request for first port of the laser_assembler package.

Created branch here:

We have completed initial port of laser_assembler package to ros2 and tested on ros2 version bouncy.
Please find pull request here: