the function read_points() of pointcloud2.py seems to change the cloud itemsize, breaks do_transform_cloud #305
Description
Generated by Generative AI
No.
Operating System:
6.17.9-arch1-1 #1 SMP PREEMPT_DYNAMIC Mon, 24 Nov 2025 15:21:09 +0000 x86_64 x86_64 x86_64 GNU/Linux
ROS version or commit hash:
jazzy
RMW implementation (if applicable):
rmw_zenoh_cpp (should not matter)
RMW Configuration (if applicable):
No response
Client library (if applicable):
No response
'ros2 doctor --report' output
ros2 doctor --report
NETWORK CONFIGURATION
inet : 127.0.0.1
inet4 : ['127.0.0.1']
inet6 : ['::1']
netmask : 255.0.0.0
device : lo
flags : 73<UP,RUNNING,LOOPBACK>
mtu : 65536
inet : 130.190.93.159
inet4 : ['130.190.93.159']
ether : 50:eb:71:e8:da:9b
inet6 : ['fe80::da80:b523:fbec:dcbe%wlo1']
netmask : 255.255.252.0
device : wlo1
flags : 4163<UP,MULTICAST,RUNNING,BROADCAST>
mtu : 1500
broadcast : 130.190.95.255
inet : 172.18.0.1
inet4 : ['172.18.0.1']
ether : e6:1d:ae:fc:d9:8e
inet6 : ['fe80::e41d:aeff:fefc:d98e%br-93cb6ed867d5']
netmask : 255.255.0.0
device : br-93cb6ed867d5
flags : 4163<UP,MULTICAST,RUNNING,BROADCAST>
mtu : 1500
broadcast : 172.18.255.255
inet : 172.17.0.1
inet4 : ['172.17.0.1']
ether : fa:1c:28:64:cc:c4
netmask : 255.255.0.0
device : docker0
flags : 4099<UP,MULTICAST,BROADCAST>
mtu : 1500
broadcast : 172.17.255.255
ether : a6:21:5d:fd:6d:c4
inet6 : ['fe80::a421:5dff:fefd:6dc4%veth8b2a784']
device : veth8b2a784
flags : 4163<UP,MULTICAST,RUNNING,BROADCAST>
mtu : 1500
ether : 98:e7:43:79:f4:ce
device : eno2
flags : 4099<UP,MULTICAST,BROADCAST>
mtu : 1500
ether : a8:4a:63:1f:c9:4a
device : enp0s20f0u1u2
flags : 4099<UP,MULTICAST,BROADCAST>
mtu : 1500
PACKAGE VERSIONS
twist_stamper : latest=0.0.5, local=0.0.5
rplidar_ros : latest=2.1.0, local=2.1.4
rf2o_laser_odometry : latest=N/A, local=0.1.0
multiple_object_tracking_lidar : latest=N/A, local=1.0.5
lidar_filter : latest=N/A, local=0.1.0
lidar_detection_tracking : latest=N/A, local=0.0.0
laser_static_map_filter_ros2 : latest=N/A, local=0.0.0
gazebo_ros_actor_plugin : latest=N/A, local=1.0.0
fanfan_bot : latest=N/A, local=0.0.0
emcl2 : latest=N/A, local=0.0.0
diffdrive_arduino : latest=N/A, local=0.0.0
action_msgs : latest=2.0.3, local=2.0.3
actionlib_msgs : latest=5.3.6, local=5.3.6
ament_cmake : latest=2.5.4, local=2.5.4
ament_cmake_auto : latest=2.5.4, local=2.5.4
ament_cmake_copyright : latest=0.17.3, local=0.17.3
ament_cmake_core : latest=2.5.4, local=2.5.4
ament_cmake_cppcheck : latest=0.17.3, local=0.17.3
ament_cmake_cpplint : latest=0.17.3, local=0.17.3
ament_cmake_export_definitions : latest=2.5.4, local=2.5.4
ament_cmake_export_dependencies : latest=2.5.4, local=2.5.4
ament_cmake_export_include_directories : latest=2.5.4, local=2.5.4
ament_cmake_export_interfaces : latest=2.5.4, local=2.5.4
ament_cmake_export_libraries : latest=2.5.4, local=2.5.4
ament_cmake_export_link_flags : latest=2.5.4, local=2.5.4
ament_cmake_export_targets : latest=2.5.4, local=2.5.4
ament_cmake_flake8 : latest=0.17.3, local=0.17.3
ament_cmake_gen_version_h : latest=2.5.4, local=2.5.4
ament_cmake_gmock : latest=2.5.4, local=2.5.4
ament_cmake_gtest : latest=2.5.4, local=2.5.4
ament_cmake_include_directories : latest=2.5.4, local=2.5.4
ament_cmake_libraries : latest=2.5.4, local=2.5.4
ament_cmake_lint_cmake : latest=0.17.3, local=0.17.3
ament_cmake_pep257 : latest=0.17.3, local=0.17.3
ament_cmake_pytest : latest=2.5.4, local=2.5.4
ament_cmake_python : latest=2.5.4, local=2.5.4
ament_cmake_ros : latest=0.12.0, local=0.12.0
ament_cmake_target_dependencies : latest=2.5.4, local=2.5.4
ament_cmake_test : latest=2.5.4, local=2.5.4
ament_cmake_uncrustify : latest=0.17.3, local=0.17.3
ament_cmake_version : latest=2.5.4, local=2.5.4
ament_cmake_xmllint : latest=0.17.3, local=0.17.3
ament_copyright : latest=0.17.3, local=0.17.3
ament_cppcheck : latest=0.17.3, local=0.17.3
ament_cpplint : latest=0.17.3, local=0.17.3
ament_flake8 : latest=0.17.3, local=0.17.3
ament_index_cpp : latest=1.8.1, local=1.8.1
ament_index_python : latest=1.8.1, local=1.8.1
ament_lint : latest=0.17.3, local=0.17.3
ament_lint_auto : latest=0.17.3, local=0.17.3
ament_lint_cmake : latest=0.17.3, local=0.17.3
ament_lint_common : latest=0.17.3, local=0.17.3
ament_package : latest=0.16.4, local=0.16.4
ament_pep257 : latest=0.17.3, local=0.17.3
ament_uncrustify : latest=0.17.3, local=0.17.3
ament_xmllint : latest=0.17.3, local=0.17.3
builtin_interfaces : latest=2.0.3, local=2.0.3
class_loader : latest=2.7.0, local=2.7.0
common_interfaces : latest=5.3.6, local=5.3.6
composition_interfaces : latest=2.0.3, local=2.0.3
console_bridge_vendor : latest=1.7.1, local=1.7.1
diagnostic_msgs : latest=5.3.6, local=5.3.6
domain_coordinator : latest=0.12.0, local=0.12.0
fastrtps_cmake_module : latest=3.6.3, local=3.6.2
geometry_msgs : latest=5.3.6, local=5.3.6
launch : latest=3.4.9, local=3.4.9
launch_ros : latest=0.26.10, local=0.26.10
launch_testing : latest=3.4.9, local=3.4.9
launch_testing_ament_cmake : latest=3.4.9, local=3.4.9
launch_testing_ros : latest=0.26.10, local=0.26.10
launch_xml : latest=3.4.9, local=3.4.9
launch_yaml : latest=3.4.9, local=3.4.9
libstatistics_collector : latest=1.7.4, local=1.7.4
libyaml_vendor : latest=1.6.3, local=1.6.3
lifecycle_msgs : latest=2.0.3, local=2.0.3
nav_msgs : latest=5.3.6, local=5.3.6
osrf_pycommon : latest=2.1.7, local=2.1.7
pluginlib : latest=5.4.4, local=5.4.3
python_cmake_module : latest=0.11.1, local=0.11.1
rcl : latest=9.2.8, local=9.2.8
rcl_action : latest=9.2.8, local=9.2.8
rcl_interfaces : latest=2.0.3, local=2.0.3
rcl_lifecycle : latest=9.2.8, local=9.2.8
rcl_logging_interface : latest=3.1.1, local=3.1.1
rcl_logging_spdlog : latest=3.1.1, local=3.1.1
rcl_yaml_param_parser : latest=9.2.8, local=9.2.8
rclcpp : latest=28.1.14, local=28.1.13
rclcpp_action : latest=28.1.14, local=28.1.13
rclcpp_components : latest=28.1.14, local=28.1.13
rclcpp_lifecycle : latest=28.1.14, local=28.1.13
rclpy : latest=7.1.7, local=7.1.6
rcpputils : latest=2.11.2, local=2.11.2
rcutils : latest=6.7.5, local=6.7.4
rmw : latest=7.3.2, local=7.3.2
rmw_dds_common : latest=3.1.0, local=3.1.0
rmw_fastrtps_cpp : latest=8.4.3, local=8.4.3
rmw_fastrtps_shared_cpp : latest=8.4.3, local=8.4.3
rmw_implementation : latest=2.15.6, local=2.15.6
rmw_implementation_cmake : latest=7.3.2, local=7.3.2
ros2action : latest=0.32.6, local=0.32.6
ros2cli : latest=0.32.6, local=0.32.6
ros2cli_common_extensions : latest=0.3.1, local=0.3.0
ros2component : latest=0.32.6, local=0.32.6
ros2doctor : latest=0.32.6, local=0.32.6
ros2interface : latest=0.32.6, local=0.32.6
ros2launch : latest=0.26.10, local=0.26.10
ros2lifecycle : latest=0.32.6, local=0.32.6
ros2multicast : latest=0.32.6, local=0.32.6
ros2node : latest=0.32.6, local=0.32.6
ros2param : latest=0.32.6, local=0.32.6
ros2pkg : latest=0.32.6, local=0.32.6
ros2run : latest=0.32.6, local=0.32.6
ros2service : latest=0.32.6, local=0.32.6
ros2topic : latest=0.32.6, local=0.32.6
ros_core : latest=0.11.0, local=0.11.0
ros_environment : latest=4.2.1, local=4.2.1
ros_workspace : latest=1.0.3, local=1.0.3
rosgraph_msgs : latest=2.0.3, local=2.0.3
rosidl_adapter : latest=4.6.7, local=4.6.6
rosidl_cli : latest=4.6.7, local=4.6.6
rosidl_cmake : latest=4.6.7, local=4.6.6
rosidl_core_generators : latest=0.2.0, local=0.2.0
rosidl_core_runtime : latest=0.2.0, local=0.2.0
rosidl_default_generators : latest=1.6.0, local=1.6.0
rosidl_default_runtime : latest=1.6.0, local=1.6.0
rosidl_dynamic_typesupport : latest=0.1.2, local=0.1.2
rosidl_dynamic_typesupport_fastrtps : latest=0.1.0, local=0.1.0
rosidl_generator_c : latest=4.6.7, local=4.6.6
rosidl_generator_cpp : latest=4.6.7, local=4.6.6
rosidl_generator_py : latest=0.22.2, local=0.22.2
rosidl_generator_type_description : latest=4.6.7, local=4.6.6
rosidl_parser : latest=4.6.7, local=4.6.6
rosidl_pycommon : latest=4.6.7, local=4.6.6
rosidl_runtime_c : latest=4.6.7, local=4.6.6
rosidl_runtime_cpp : latest=4.6.7, local=4.6.6
rosidl_runtime_py : latest=0.13.1, local=0.13.1
rosidl_typesupport_c : latest=3.2.2, local=3.2.2
rosidl_typesupport_cpp : latest=3.2.2, local=3.2.2
rosidl_typesupport_fastrtps_c : latest=3.6.3, local=3.6.2
rosidl_typesupport_fastrtps_cpp : latest=3.6.3, local=3.6.2
rosidl_typesupport_interface : latest=4.6.7, local=4.6.6
rosidl_typesupport_introspection_c : latest=4.6.7, local=4.6.6
rosidl_typesupport_introspection_cpp : latest=4.6.7, local=4.6.6
rpyutils : latest=0.4.2, local=0.4.2
sensor_msgs : latest=5.3.6, local=5.3.6
service_msgs : latest=2.0.3, local=2.0.3
shape_msgs : latest=5.3.6, local=5.3.6
spdlog_vendor : latest=1.6.1, local=1.6.1
sros2 : latest=0.13.4, local=0.13.4
sros2_cmake : latest=0.13.4, local=0.13.4
statistics_msgs : latest=2.0.3, local=2.0.3
std_msgs : latest=5.3.6, local=5.3.6
std_srvs : latest=5.3.6, local=5.3.6
stereo_msgs : latest=5.3.6, local=5.3.6
tinyxml2_vendor : latest=0.9.2, local=0.9.1
tracetools : latest=8.2.4, local=8.2.4
trajectory_msgs : latest=5.3.6, local=5.3.6
type_description_interfaces : latest=2.0.3, local=2.0.3
uncrustify_vendor : latest=3.0.1, local=3.0.1
unique_identifier_msgs : latest=2.5.0, local=2.5.0
visualization_msgs : latest=5.3.6, local=5.3.6
ackermann_msgs : latest=2.0.2, local=2.0.2
ros2_control_cmake : latest=0.3.0, local=0.3.0
twist_mux_msgs : latest=3.0.1, local=3.0.1
rmw_cyclonedds_cpp : latest=2.2.3, local=2.2.3
tf_transformations : latest=1.1.0, local=1.1.0
realtime_tools : latest=3.10.1, local=3.10.0
urdf : latest=2.10.0, local=2.10.0
joint_limits : latest=4.40.0, local=4.39.2
pal_statistics : latest=2.7.0, local=2.7.0
sdformat_urdf : latest=1.0.2, local=1.0.2
hardware_interface : latest=4.40.0, local=4.39.2
controller_interface : latest=4.40.0, local=4.39.2
parameter_traits : latest=0.6.0, local=0.5.0
generate_parameter_library : latest=0.6.0, local=0.5.0
tf2 : latest=0.36.17, local=0.36.16
message_filters : latest=4.11.9, local=4.11.9
tf2_msgs : latest=0.36.17, local=0.36.16
tf2_ros : latest=0.36.17, local=0.36.16
tf2_py : latest=0.36.17, local=0.36.16
tf2_ros_py : latest=0.36.17, local=0.36.16
tf2_geometry_msgs : latest=0.36.17, local=0.36.16
steering_controllers_library : latest=4.35.0, local=4.34.0
ackermann_steering_controller : latest=4.35.0, local=4.34.0
action_tutorials_interfaces : latest=0.33.8, local=0.33.7
action_tutorials_cpp : latest=0.33.8, local=0.33.7
action_tutorials_py : latest=0.33.8, local=0.33.7
actuator_msgs : latest=0.0.1, local=0.0.1
angles : latest=1.16.1, local=1.16.1
filters : latest=2.2.2, local=2.2.2
control_toolbox : latest=4.9.0, local=4.9.0
kinematics_interface : latest=1.7.0, local=1.6.0
tf2_eigen : latest=0.36.17, local=0.36.16
tf2_kdl : latest=0.36.17, local=0.36.16
admittance_controller : latest=4.35.0, local=4.34.0
behaviortree_cpp : latest=4.7.1, local=4.7.1
bicycle_steering_controller : latest=4.35.0, local=4.34.0
bondcpp : latest=4.1.2, local=4.1.2
cv_bridge : latest=4.1.0, local=4.1.0
image_geometry : latest=4.1.0, local=4.1.0
camera_calibration : latest=5.0.11, local=5.0.11
camera_calibration_parsers : latest=5.1.7, local=5.1.7
camera_info_manager : latest=5.1.7, local=5.1.7
chained_filter_controller : latest=4.35.0, local=4.34.0
example_interfaces : latest=0.12.0, local=0.12.0
composition : latest=0.33.8, local=0.33.7
image_transport : latest=5.1.7, local=5.1.7
compressed_depth_image_transport : latest=4.0.6, local=4.0.6
compressed_image_transport : latest=4.0.6, local=4.0.6
controller_manager_msgs : latest=4.40.0, local=4.39.2
diagnostic_updater : latest=4.2.6, local=4.2.6
ros2_control_test_assets : latest=4.40.0, local=4.39.2
controller_manager : latest=4.40.0, local=4.39.2
sensor_msgs_py : latest=5.3.6, local=5.3.6
laser_geometry : latest=2.7.2, local=2.7.2
map_msgs : latest=2.4.1, local=2.4.1
nav2_msgs : latest=1.3.10, local=1.3.10
nav2_common : latest=1.3.10, local=1.3.10
nav2_util : latest=1.3.10, local=1.3.10
nav2_voxel_grid : latest=1.3.10, local=1.3.10
tf2_sensor_msgs : latest=0.36.17, local=0.36.16
nav2_costmap_2d : latest=1.3.10, local=1.3.10
costmap_queue : latest=1.3.10, local=1.3.10
demo_nodes_cpp : latest=0.33.8, local=0.33.7
demo_nodes_cpp_native : latest=0.33.8, local=0.33.7
demo_nodes_py : latest=0.33.8, local=0.33.7
image_proc : latest=5.0.11, local=5.0.11
depth_image_proc : latest=5.0.11, local=5.0.11
depthimage_to_laserscan : latest=2.5.1, local=2.5.1
dummy_map_server : latest=0.33.8, local=0.33.7
dummy_sensors : latest=0.33.8, local=0.33.7
kdl_parser : latest=2.11.0, local=2.11.0
robot_state_publisher : latest=3.3.3, local=3.3.3
dummy_robot_bringup : latest=0.33.8, local=0.33.7
examples_rclcpp_minimal_action_client : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_action_server : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_client : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_composition : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_publisher : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_service : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_subscriber : latest=0.19.7, local=0.19.7
examples_rclcpp_minimal_timer : latest=0.19.7, local=0.19.7
examples_rclcpp_multithreaded_executor : latest=0.19.7, local=0.19.7
examples_rclpy_executors : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_action_client : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_action_server : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_client : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_publisher : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_service : latest=0.19.7, local=0.19.7
examples_rclpy_minimal_subscriber : latest=0.19.7, local=0.19.7
image_tools : latest=0.33.8, local=0.33.7
intra_process_demo : latest=0.33.8, local=0.33.7
joy : latest=3.3.0, local=3.3.0
lifecycle : latest=0.33.8, local=0.33.7
logging_demo : latest=0.33.8, local=0.33.7
pcl_msgs : latest=1.0.0, local=1.0.0
pcl_conversions : latest=2.6.2, local=2.6.2
pendulum_msgs : latest=0.33.8, local=0.33.7
tlsf_cpp : latest=0.17.1, local=0.17.1
pendulum_control : latest=0.33.8, local=0.33.7
quality_of_service_demo_cpp : latest=0.33.8, local=0.33.7
quality_of_service_demo_py : latest=0.33.8, local=0.33.7
tf2_bullet : latest=0.36.17, local=0.36.16
tf2_eigen_kdl : latest=0.36.17, local=0.36.16
tf2_tools : latest=0.36.17, local=0.36.16
geometry2 : latest=0.36.17, local=0.36.16
rosbag2_storage : latest=0.26.9, local=0.26.9
rosbag2_cpp : latest=0.26.9, local=0.26.9
rosbag2_compression : latest=0.26.9, local=0.26.9
rosbag2_interfaces : latest=0.26.9, local=0.26.9
rosbag2_transport : latest=0.26.9, local=0.26.9
rosbag2_py : latest=0.26.9, local=0.26.9
ros2bag : latest=0.26.9, local=0.26.9
rosbag2_compression_zstd : latest=0.26.9, local=0.26.9
rosbag2_storage_mcap : latest=0.26.9, local=0.26.9
rosbag2_storage_sqlite3 : latest=0.26.9, local=0.26.9
rosbag2_storage_default_plugins : latest=0.26.9, local=0.26.9
rosbag2 : latest=0.26.9, local=0.26.9
ros_base : latest=0.11.0, local=0.11.0
python_qt_binding : latest=2.2.2, local=2.2.2
qt_gui : latest=2.7.5, local=2.7.5
rqt_gui : latest=1.6.2, local=1.6.2
rqt_gui_py : latest=1.6.2, local=1.6.2
rqt_py_common : latest=1.6.2, local=1.6.2
rqt_console : latest=2.2.2, local=2.2.1
rqt_msg : latest=1.5.1, local=1.5.1
rqt_action : latest=2.2.0, local=2.2.0
rqt_bag : latest=1.5.5, local=1.5.5
qt_gui_py_common : latest=2.7.5, local=2.7.5
rqt_plot : latest=1.4.4, local=1.4.4
rqt_bag_plugins : latest=1.5.5, local=1.5.5
qt_dotgraph : latest=2.7.5, local=2.7.5
rqt_graph : latest=1.5.5, local=1.5.5
qt_gui_cpp : latest=2.7.5, local=2.7.5
rqt_gui_cpp : latest=1.6.2, local=1.6.2
rqt_image_view : latest=1.3.0, local=1.3.0
rqt_publisher : latest=1.7.2, local=1.7.2
rqt_py_console : latest=1.2.3, local=1.2.3
rqt_reconfigure : latest=1.6.2, local=1.6.2
rqt_service_caller : latest=1.2.1, local=1.2.1
rqt_shell : latest=1.2.2, local=1.2.2
rqt_srv : latest=1.2.2, local=1.2.2
rqt_topic : latest=1.7.4, local=1.7.4
rqt_common_plugins : latest=1.2.0, local=1.2.0
rviz_ogre_vendor : latest=14.1.19, local=14.1.17
interactive_markers : latest=2.5.5, local=2.5.5
point_cloud_transport : latest=4.0.6, local=4.0.6
rviz_assimp_vendor : latest=14.1.19, local=14.1.17
rviz_rendering : latest=14.1.19, local=14.1.17
rviz_common : latest=14.1.19, local=14.1.17
rviz_default_plugins : latest=14.1.19, local=14.1.17
rviz2 : latest=14.1.19, local=14.1.17
teleop_twist_joy : latest=2.6.5, local=2.6.5
teleop_twist_keyboard : latest=2.4.1, local=2.4.1
topic_monitor : latest=0.33.8, local=0.33.7
turtlesim : latest=1.8.3, local=1.8.3
desktop : latest=0.11.0, local=0.11.0
image_common : latest=5.1.7, local=5.1.7
image_publisher : latest=5.0.11, local=5.0.11
image_rotate : latest=5.0.11, local=5.0.11
image_view : latest=5.0.11, local=5.0.11
stereo_image_proc : latest=5.0.11, local=5.0.11
image_pipeline : latest=5.0.11, local=5.0.11
theora_image_transport : latest=4.0.6, local=4.0.6
zstd_image_transport : latest=4.0.6, local=4.0.6
image_transport_plugins : latest=4.0.6, local=4.0.6
laser_filters : latest=2.0.9, local=2.0.9
pcl_ros : latest=2.6.2, local=2.6.2
perception_pcl : latest=2.6.2, local=2.6.2
vision_opencv : latest=4.1.0, local=4.1.0
perception : latest=0.11.0, local=0.11.0
gz_transport_vendor : latest=0.0.7, local=0.0.7
gz_gui_vendor : latest=0.0.5, local=0.0.5
gz_physics_vendor : latest=0.0.7, local=0.0.7
gz_sensors_vendor : latest=0.0.6, local=0.0.6
gz_sim_vendor : latest=0.0.9, local=0.0.9
gps_msgs : latest=2.1.1, local=2.1.1
ros_gz_interfaces : latest=1.0.18, local=1.0.16
vision_msgs : latest=4.1.1, local=4.1.1
ros_gz_bridge : latest=1.0.18, local=1.0.16
ros_gz_image : latest=1.0.18, local=1.0.16
ros_gz_sim : latest=1.0.18, local=1.0.16
ros_gz_sim_demos : latest=1.0.18, local=1.0.16
simulation : latest=0.11.0, local=0.11.0
desktop_full : latest=0.11.0, local=0.11.0
diff_drive_controller : latest=4.35.0, local=4.34.0
nav_2d_msgs : latest=1.3.10, local=1.3.10
dwb_msgs : latest=1.3.10, local=1.3.10
nav_2d_utils : latest=1.3.10, local=1.3.10
nav2_behavior_tree : latest=1.3.10, local=1.3.10
nav2_core : latest=1.3.10, local=1.3.10
dwb_core : latest=1.3.10, local=1.3.10
dwb_critics : latest=1.3.10, local=1.3.10
dwb_plugins : latest=1.3.10, local=1.3.10
forward_command_controller : latest=4.35.0, local=4.34.0
effort_controllers : latest=4.35.0, local=4.34.0
force_torque_sensor_broadcaster : latest=4.35.0, local=4.34.0
gpio_controllers : latest=4.35.0, local=4.34.0
gps_sensor_broadcaster : latest=4.35.0, local=4.34.0
gripper_controllers : latest=4.35.0, local=4.34.0
gz_ros2_control : latest=1.2.16, local=1.2.16
imu_sensor_broadcaster : latest=4.35.0, local=4.34.0
joint_state_broadcaster : latest=4.35.0, local=4.34.0
joint_state_publisher : latest=2.4.0, local=2.4.0
joint_trajectory_controller : latest=4.35.0, local=4.34.0
mecanum_drive_controller : latest=4.35.0, local=4.34.0
nav2_amcl : latest=1.3.10, local=1.3.10
nav2_behaviors : latest=1.3.10, local=1.3.10
nav2_minimal_tb3_sim : latest=1.0.1, local=1.0.1
nav2_minimal_tb4_description : latest=1.0.1, local=1.0.1
nav2_minimal_tb4_sim : latest=1.0.1, local=1.0.1
nav2_bt_navigator : latest=1.3.10, local=1.3.10
nav2_collision_monitor : latest=1.3.10, local=1.3.10
nav2_constrained_smoother : latest=1.3.10, local=1.3.10
nav2_controller : latest=1.3.10, local=1.3.10
nav2_dwb_controller : latest=1.3.10, local=1.3.10
nav2_graceful_controller : latest=1.3.10, local=1.3.10
nav2_lifecycle_manager : latest=1.3.10, local=1.3.10
nav2_map_server : latest=1.3.10, local=1.3.10
nav2_mppi_controller : latest=1.3.10, local=1.3.10
nav2_navfn_planner : latest=1.3.10, local=1.3.10
nav2_planner : latest=1.3.10, local=1.3.10
nav2_regulated_pure_pursuit_controller : latest=1.3.10, local=1.3.10
nav2_rotation_shim_controller : latest=1.3.10, local=1.3.10
nav2_route : latest=1.3.10, local=1.3.10
nav2_rviz_plugins : latest=1.3.10, local=1.3.10
nav2_simple_commander : latest=1.3.10, local=1.3.10
nav2_smac_planner : latest=1.3.10, local=1.3.10
nav2_smoother : latest=1.3.10, local=1.3.10
nav2_theta_star_planner : latest=1.3.10, local=1.3.10
nav2_velocity_smoother : latest=1.3.10, local=1.3.10
robot_localization : latest=3.8.3, local=3.8.3
nav2_waypoint_follower : latest=1.3.10, local=1.3.10
opennav_docking_core : latest=1.3.10, local=1.3.10
opennav_docking : latest=1.3.10, local=1.3.10
opennav_docking_bt : latest=1.3.10, local=1.3.10
navigation2 : latest=1.3.10, local=1.3.10
slam_toolbox : latest=2.8.3, local=2.8.3
nav2_bringup : latest=1.3.10, local=1.3.10
omni_wheel_drive_controller : latest=4.35.0, local=4.34.0
parallel_gripper_controller : latest=4.35.0, local=4.34.0
pid_controller : latest=4.35.0, local=4.34.0
pose_broadcaster : latest=4.35.0, local=4.34.0
position_controllers : latest=4.35.0, local=4.34.0
range_sensor_broadcaster : latest=4.35.0, local=4.34.0
zenoh_cpp_vendor : latest=0.2.9, local=0.2.9
rmw_zenoh_cpp : latest=0.2.9, local=0.2.9
ros2controlcli : latest=4.40.0, local=4.39.2
transmission_interface : latest=4.40.0, local=4.39.2
ros2_control : latest=4.40.0, local=4.39.2
tricycle_controller : latest=4.35.0, local=4.34.0
tricycle_steering_controller : latest=4.35.0, local=4.34.0
velocity_controllers : latest=4.35.0, local=4.34.0
ros2_controllers : latest=4.35.0, local=4.34.0
rqt_tf_tree : latest=1.0.5, local=1.0.5
twist_mux : latest=4.4.0, local=4.4.0
ros2_controllers_test_nodes : latest=4.35.0, local=4.34.0
cartographer_ros_msgs : latest=2.0.9003, local=2.0.9003
cartographer_ros : latest=2.0.9003, local=2.0.9003
dynamixel_sdk : latest=3.8.4, local=3.8.4
hls_lfcd_lds_driver : latest=2.1.1, local=2.1.1
turtlebot3_description : latest=2.3.6, local=2.3.4
turtlebot3_msgs : latest=2.4.0, local=2.4.0
turtlebot3_node : latest=2.3.6, local=2.3.4
turtlebot3_bringup : latest=2.3.6, local=2.3.4
turtlebot3_cartographer : latest=2.3.6, local=2.3.4
turtlebot3_example : latest=2.3.6, local=2.3.4
turtlebot3_navigation2 : latest=2.3.6, local=2.3.4
turtlebot3_teleop : latest=2.3.6, local=2.3.4
turtlebot3 : latest=2.3.6, local=2.3.4
topic_tools_interfaces : latest=1.3.3, local=1.3.3
topic_tools : latest=1.3.3, local=1.3.3
imu_complementary_filter : latest=2.1.5, local=2.1.5
imu_filter_madgwick : latest=2.1.5, local=2.1.5
rviz_imu_plugin : latest=2.1.5, local=2.1.5
imu_tools : latest=2.1.5, local=2.1.5
rviz_satellite : latest=4.3.0, local=4.3.0
rviz_2d_overlay_msgs : latest=1.4.0, local=1.4.0
pointcloud_to_laserscan : latest=2.0.2, local=2.0.2
bond : latest=4.1.2, local=4.1.2
control_msgs : latest=5.6.0, local=5.5.0
generate_parameter_library_py : latest=0.6.0, local=0.5.0
geographic_msgs : latest=1.0.6, local=1.0.6
ompl : latest=1.7.0, local=1.7.0
pal_statistics_msgs : latest=2.7.0, local=2.7.0
smclib : latest=4.1.2, local=4.1.2
tcb_span : latest=1.0.2, local=1.0.2
tl_expected : latest=1.0.2, local=1.0.2
gz_common_vendor : latest=0.0.8, local=0.0.8
gz_dartsim_vendor : latest=0.0.3, local=0.0.3
gz_fuel_tools_vendor : latest=0.0.6, local=0.0.6
gz_msgs_vendor : latest=0.0.6, local=0.0.6
gz_ogre_next_vendor : latest=0.0.5, local=0.0.5
gz_plugin_vendor : latest=0.0.5, local=0.0.5
gz_rendering_vendor : latest=0.0.7, local=0.0.6
gz_tools_vendor : latest=0.0.7, local=0.0.7
sdformat_vendor : latest=0.0.10, local=0.0.10
tracetools_image_pipeline : latest=5.0.11, local=5.0.11
xacro : latest=2.1.1, local=2.1.1
gz_cmake_vendor : latest=0.0.10, local=0.0.10
gz_math_vendor : latest=0.0.8, local=0.0.8
gz_utils_vendor : latest=0.0.5, local=0.0.5
libcurl_vendor : latest=3.4.4, local=3.4.4
resource_retriever : latest=3.4.4, local=3.4.4
rttest : latest=0.17.1, local=0.17.1
sdl2_vendor : latest=3.3.0, local=3.3.0
tango_icons_vendor : latest=0.3.0, local=0.3.0
tlsf : latest=0.9.0, local=0.9.0
eigen3_cmake_module : latest=0.3.0, local=0.3.0
keyboard_handler : latest=0.3.1, local=0.3.1
liblz4_vendor : latest=0.26.9, local=0.26.9
mcap_vendor : latest=0.26.9, local=0.26.9
orocos_kdl_vendor : latest=0.5.1, local=0.5.1
pybind11_vendor : latest=3.1.3, local=3.1.3
python_orocos_kdl_vendor : latest=0.5.1, local=0.5.1
sqlite3_vendor : latest=0.26.9, local=0.26.9
urdf_parser_plugin : latest=2.10.0, local=2.10.0
yaml_cpp_vendor : latest=9.0.1, local=9.0.1
zstd_vendor : latest=0.26.9, local=0.26.9
PLATFORM INFORMATION
system : Linux
platform info : Linux-6.17.9-arch1-1-x86_64-with-glibc2.39
release : 6.17.9-arch1-1
processor : x86_64
QOS COMPATIBILITY LIST
topic [type] : /backup/_action/feedback [nav2_msgs/action/BackUp_FeedbackMessage]
publisher node : behavior_server
subscriber node : bt_navigator_navigate_through_poses_rclcpp_node
compatibility status : OK
[...cut for brievity, otherwise the issue would not publish]
RMW MIDDLEWARE
middleware name : rmw_zenoh_cpp
ROS 2 INFORMATION
distribution name : jazzy
distribution type : ros2
distribution status : active
release platforms : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}
TOPIC LIST
topic : /agent_0_pose
publisher count : 0
subscriber count : 1
[... Cut for brievity]Steps to reproduce issue
- model a robot with a lidar in gazebo (harmonic in my case)
- use RosGzBridge to bridge the gz scan data from /scan (gz) to /scan (ros) as well as the scan points (/scan/points to the same ros topic)
- Subscribe to the /scan/points ros topic from a ros (python) node, and try to transform the pointcloud from the laser frame to another (/map for instance, assuming the transforms are available), using do_transform_cloud(pointcloud, transform) with transform gotten with tf_buffer.lookup_transform()
Expected behavior
The transformed pointcloud is returned.
Actual behavior
An error occurs : FATAL] [1766077141.119659433] [PointCloudStaticMapFilter]: Exception in 'subscriptions' callback: PointFields and structured NumPy array dtype do not match for all fields! Check their field order, names and types..
The error occurs in pointcloud.py line 269 assert points.dtype == dtype_from_fields(fields, point_step). The dtypes of the two arrays are as follows : points.dtype = {'names': ['x', 'y', 'z', 'intensity', 'ring'], 'formats': ['<f4', '<f4', '<f4', '<f4', '<u2'], 'offsets': [0, 4, 8, 16, 24], 'itemsize': 26} dtype_from_fields(fields, point_step) = {'names': ['x', 'y', 'z', 'intensity', 'ring'], 'formats': ['<f4', '<f4', '<f4', '<f4', '<u2'], 'offsets': [0, 4, 8, 16, 24], 'itemsize': 32}.
They are identical except for the itemsize. The reason I believe the error comes from ros is that the points array was created when transforming the pointcloud based on the cloud (Pointcloud2 type) fields (function read_points of file point_cloud2.py, line 84).
We therefore have the following situation : do_transform_cloud reads the cloud points using read_points, transforms them and returns a new cloud based on those points. When creating the new cloud, create_cloud checks the points dtype against the dtype_from_fields() and finds that the cloud array (created by read_points) is not valid with regards to the pointcloud fields. So either it was read wrong or dtype_from_fields returns the wrong itemsize.
Additional information
No response