Add Pointcloud2 Subscriber #189
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Public API Changes
Reorganized codebase to isolate subscribers from streamers.
Created image_transport and pointcloud2 subscribers.
Added parameters to control how pointcloud2 msg is converted into an image stream within pointcloud2 subscriber.
Description
This is a big change that will probably take a little back and forth. If you are not interested let me know. The goal was to make it possible to subscribe to ros msg formats other than images and convert them to image streams. Existing msgs subscription capabilities were moved from the existing streamer files to a new image_transport_subscriber file. A new pointcloud2_subscriber option was added that subscribes to pointcloud2 msgs, projects them into a 2d image (user selected viewing frame with parameters for height, width, and focal length), then sends the resulting image to any of the existing streamers.
When coupled with a package like (https://github.com/naoki-mizuno/spacenav_rviz) that moves the selected viewing frame in real time. It is possible to generate a streaming flythrough of a pointcloud with this change.