Create ros2-crystal branch

[vandanamandlik]

I am porting laser_assembler package for crystal. Request you to create new branch for it so that I can raise a Pull request.

[jonbinney]

How different is the code for crystal compared to the bouncy code in #21 ?

[vandanamandlik]

I have done following two changes for crystal

1. Replaced manual conversion of nanoseconds to seconds with function seconds() in message_filter.hpp

   • rclcpp::Time class of Bouncy was not having seconds() function but now its available in crystal so used it here.

   • vandanamandlik@5dbb984

2. Removed manually clone and build steps of message_filters and launch package from readme because now it available in crystal, Changed raw pointer to shared_pointer.

   • vandanamandlik@4995443

   • message filter package was not there in bouncy, So in order to build laser assembler
     I was cloning and buiding it from intel message filter repository.
     Now its available in crystal release so that step is skipped in crystal.

   • launch package was not fully ported in bouncy so there I was using master branch of launch packge repository. But now its available in crystal so this step is also skipped in crystal.

   • Changed raw pointer to shared pointer in base_assembler.hpp
     subscribe method of intel's message_filters package was accepting raw node pointer only,
     virtual void subscribe(rclcpp::Node * node, const std::string& topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) = 0;
     In crystal subscribe() method can accept shared_pointer so changed raw pointer to shared_pointer in crystal.

[jonbinney]

@vandanamandlik thanks for the explanation. I've created the new branch here: https://github.com/ros-perception/laser_assembler/tree/ros2-crystal

[vandanamandlik]

Thanks for creating branch