[Proposal] Change interface topics /sensing/lidar/<name>/pointcloud to synchronized

[YoshiRi]

Abstract

I want to replace /sensing/lidar/<name>/pointcloud topic with synchronized pointcloud.
Here show the my proposal:

before	after

• Expected changes

  • interface pointclouds will be synchronized
  • may have some publish timing delay compared to current settings

• Background

  • Current interface topics for each LiDAR pointcloud are topics before concatenate node (see diagram)
  • Some multi-lidar process need synchronized pointclouds (multi-lidar-occupancy grid map)

Appendix

Current sensing flow is like:

[YoshiRi]

With new universe PR, concatenate node can output pointcloud topic.

I show sample update in sample_sensor_kit

• feat: change pointcloud preprocess output from base_link to sensor_frame sample_sensor_kit_launch#90
• feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds sample_sensor_kit_launch#91