ROS2 pcl_perceptions

[poonam1120]

Hi @Paul and all,

pcl_ros have nodelets and replacement for this is component in ROS2.
As per our investigation and the analysis, component is not developed completely and still under active development.
We have many issues for handling dynamic reconfiguration(ROS2 parameter) with compoenent and seems that it is not possible as of now.
So based on these experiences and our experimentation, pcl_ros work is stalled.

referered:-
https://answers.ros.org/question/313001/ros2-diff-between-node-and-component/
https://index.ros.org/doc/ros2/Tutorials/Composition/

Please let us know your opinion on the same.
Thanks.

[dirk-thomas]

@poonam1120

We have many issues for handling dynamic reconfiguration(ROS2 parameter) with compoenent and seems that it is not possible as of now.

If you make a statement like this it would be good to include links to existing issues in the bug tracker so that it is clear which problems you are referring to.

[poonam1120]

Hi @dirk-thomas,

Here is the bug report link.
https://github.com/ros2/rclcpp/issues/620

Other links which I have referred are:-

Composition and Parameters: Best Practice Suggestions

Hi All, I am also trying to use manual composition and ros2 parameter feature with the demo example only. I tried both ways. add parameter client to the node itself. rclcpp::SyncParametersClient::SharedPtr parameters_client = std::make_sharedrclcpp::SyncParametersClient(this); With this approch, I get error as no matchin function as “rclcpp::SyncParametersClient::SyncParametersClient”. Because this is referrence to talker node which is of type composition. 2)add parameter client before…

ROS2 diff between node and component - ROS Answers: Open Source Q&A Forum → this link tells that component is under active development .

Thanks.

[Paul_Bovbel]

Thanks @poonam1120, I wasn’t aware that the composition components were still under active development.