Drop PointCloud(1) support from ROS 2 plugin

choreonoid · Mar 2, 2024 · 936f760 · 936f760
1 parent 01831ae
commit 936f760
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/src/plugin/BodyROS2Item.cpp b/src/plugin/BodyROS2Item.cpp
@@ -13,12 +13,7 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#ifdef CNOID_ROS_PLUGIN_USE_POINTCLOUD1
-#include <sensor_msgs/msg/point_cloud.hpp>
-typedef sensor_msgs::msg::PointCloud PointCloudTypeForRangeSensor;
-#else
 typedef sensor_msgs::msg::PointCloud2 PointCloudTypeForRangeSensor;
-#endif
 
 #include "gettext.h"
 #include <fmt/format.h>

diff --git a/src/plugin/CMakeLists.txt b/src/plugin/CMakeLists.txt
@@ -23,7 +23,9 @@ if(DEFINED ENV{ROS_VERSION})
       ${catkin_LIBRARIES}
       Choreonoid::CnoidBodyPlugin
     )
-    option(USE_POINTCLOUD1_IN_BODY_ROS_ITEM "Use the PointCloud type instead of PointCoud2 for publishing range sensor data" OFF)
+
+    # PointCloud(1) is deprecated in ROS 2, but it is still used in ROS 1
+    option(USE_POINTCLOUD1_IN_BODY_ROS_ITEM "Use the PointCloud type instead of PointCloud2 for publishing range sensor data with ROS 1" OFF)
     mark_as_advanced(USE_POINTCLOUD1_IN_BODY_ROS_ITEM)
 
     if(USE_POINTCLOUD1_IN_BODY_ROS_ITEM)