I’ve taken on the challenge of porting both the “velodyne” driver package and “perception_pcl” from ROS -> ROS2 and as discussed here https://github.com/ros-perception/perception_pcl/issues/225 and here https://github.com/ros-drivers/velodyne/issues/165 type masquerading is one of the big missing pieces to at least more easily port it to ROS2. Discussions ongoing here as well ROS2 perception porting status
The ROS2 road map (https://index.ros.org/doc/ros2/Roadmap/#id4) also mentions this to be quite a major undertaking. So I have 2 question in relation to this:
Is there any timeline for this, or has anyone started the work on this? Do you have any expected time frame, 1 - 6 months as when this might be available as an alpha implementation ?
What would a viable alternative be ? Trying to do something similar to what is shown here https://github.com/ros2/demos/tree/release-alpha8/intra_process_demo/src/two_node_pipeline passing pointers. The other thing I was thinking about was to implement most of the PCL types as PCL-messages in the “pcl_msgs” package.
Maybe you have some other/better idea on how to solve this?