chore: remove PCL dependency

docs/point_types.md

@@ -31,20 +31,6 @@ These definitions can be found in `nebula_core_common/include/nebula_core_common
 | `intensity` | `float`  |       | Intensity of the return as reported by the sensor. |
 | `ring`      | `uint16` |       | Ring ID - only defined for rotational LiDARs.      |
 
-## [Deprecated] PointXYZICATR
-
-| Field         | Type     | Units     | Description                                             |
-| ------------- | -------- | --------- | ------------------------------------------------------- |
-| `x`           | `float`  | `m`       | Cartesian x coordinate.                                 |
-| `y`           | `float`  | `m`       | The point's cartesian y coordinate.                     |
-| `z`           | `float`  | `m`       | Cartesian z coordinate.                                 |
-| padding       | 4 bytes  |           |                                                         |
-| `intensity`   | `uint8`  |           | Intensity of the return as reported by the sensor.      |
-| `channel`     | `uint16` |           | The ID of the laser channel that produced the point.    |
-| `azimuth`     | `float`  | `degrees` | Azimuth in polar coordinates.                           |
-| `timestamp`   | `uint32` | `ns`      | Time of detection relative to the pointcloud timestamp. |
-| `return type` | `uint8`  |           | Return (echo) type.                                     |
-
 ## [Deprecated] PointXYZIRADT
 
 | Field         | Type     | Units     | Description                                             |

src/nebula_continental/nebula_continental/CMakeLists.txt

@@ -25,8 +25,7 @@ target_link_libraries(
   PUBLIC diagnostic_updater::diagnostic_updater
          nebula_continental_decoders::nebula_continental_decoders
          nebula_continental_hw_interfaces::nebula_continental_hw_interfaces
-         nebula_core_ros::nebula_core_ros
-         pcl_common)
+         nebula_core_ros::nebula_core_ros)
 ament_target_dependencies(
   continental_ars548_ros_wrapper
   PUBLIC
@@ -35,7 +34,6 @@ ament_target_dependencies(
   continental_srvs
   diagnostic_msgs
   geometry_msgs
-  pcl_conversions
   nebula_msgs
   radar_msgs
   sensor_msgs
@@ -64,8 +62,7 @@ target_link_libraries(
   continental_srr520_ros_wrapper
   PUBLIC nebula_continental_decoders::nebula_continental_decoders
          nebula_continental_hw_interfaces::nebula_continental_hw_interfaces
-         nebula_core_ros::nebula_core_ros
-         pcl_common)
+         nebula_core_ros::nebula_core_ros)
 
 ament_target_dependencies(
   continental_srr520_ros_wrapper
@@ -75,7 +72,6 @@ ament_target_dependencies(
   diagnostic_msgs
   geometry_msgs
   nebula_msgs
-  pcl_conversions
   radar_msgs
   sensor_msgs
   visualization_msgs
@@ -101,7 +97,6 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rosbag2_cpp REQUIRED)
-  find_package(PCL REQUIRED COMPONENTS common)
 
   ament_lint_auto_find_test_dependencies()
 
@@ -117,7 +112,7 @@ if(BUILD_TESTING)
                              PRIVATE tests include)
   target_link_libraries(
     continental_ros_decoder_test_ars548
-    PRIVATE nebula_core_common::nebula_core_common pcl_common
+    PRIVATE nebula_core_common::nebula_core_common
             rosbag2_cpp::rosbag2_cpp diagnostic_updater::diagnostic_updater
             nebula_continental_decoders::nebula_continental_decoders
             nebula_core_ros::nebula_core_ros)
@@ -142,7 +137,7 @@ if(BUILD_TESTING)
                              PRIVATE tests include)
   target_link_libraries(
     continental_ros_decoder_test_srr520 nebula_core_common::nebula_core_common
-    pcl_common rosbag2_cpp::rosbag2_cpp diagnostic_updater::diagnostic_updater
+    rosbag2_cpp::rosbag2_cpp diagnostic_updater::diagnostic_updater
     nebula_continental_decoders::nebula_continental_decoders
     nebula_core_ros::nebula_core_ros)
 
@@ -169,7 +164,6 @@ ament_export_targets(export_continental_ars548_ros_wrapper)
 ament_export_targets(export_continental_srr520_ros_wrapper)
 
 ament_export_dependencies(
-  PCL
   autoware_sensing_msgs
   continental_msgs
   continental_srvs
@@ -183,7 +177,6 @@ ament_export_dependencies(
   nebula_continental_hw_interfaces
   nebula_msgs
   nebula_core_ros
-  pcl_conversions
   radar_msgs
   rclcpp_components
   sensor_msgs

src/nebula_continental/nebula_continental/include/nebula_continental/continental_ars548_decoder_wrapper.hpp

@@ -135,14 +135,14 @@ class ContinentalARS548DecoderWrapper
   /// @brief Convert ARS548 detections to a pointcloud
   /// @param msg The ARS548 detection list msg
   /// @return Resulting detection pointcloud
-  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>::Ptr
+  drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>
   convert_to_pointcloud(const continental_msgs::msg::ContinentalArs548DetectionList & msg);
 
   /// @brief Convert ARS548 objects to a pointcloud
   /// @param msg The ARS548 object list msg
   /// @return Resulting object pointcloud
-  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>::Ptr
-  convert_to_pointcloud(const continental_msgs::msg::ContinentalArs548ObjectList & msg);
+  drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Object> convert_to_pointcloud(
+    const continental_msgs::msg::ContinentalArs548ObjectList & msg);
 
   /// @brief Convert ARS548 detections to a standard RadarScan msg
   /// @param msg The ARS548 detection list msg

src/nebula_continental/nebula_continental/include/nebula_continental/continental_srr520_decoder_wrapper.hpp

@@ -98,14 +98,14 @@ class ContinentalSRR520DecoderWrapper
   /// @brief Convert SRR520 detections to a pointcloud
   /// @param msg The SRR520 detection list msg
   /// @return Resulting detection pointcloud
-  pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>::Ptr
+  drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>
   convert_to_pointcloud(const continental_msgs::msg::ContinentalSrr520DetectionList & msg);
 
   /// @brief Convert SRR520 objects to a pointcloud
   /// @param msg The SRR520 object list msg
   /// @return Resulting object pointcloud
-  pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object>::Ptr
-  convert_to_pointcloud(const continental_msgs::msg::ContinentalSrr520ObjectList & msg);
+  drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object> convert_to_pointcloud(
+    const continental_msgs::msg::ContinentalSrr520ObjectList & msg);
 
   /// @brief Convert SRR520 detections to a standard RadarScan msg
   /// @param msg The SRR520 detection list msg

src/nebula_continental/nebula_continental/package.xml

@@ -15,8 +15,6 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>ros_environment</buildtool_depend>
   <buildtool_depend>ros_testing</buildtool_depend>
-  <build_depend>libpcl-all-dev</build_depend>
-  <build_export_depend>libpcl-all-dev</build_export_depend>
 
   <depend>autoware_sensing_msgs</depend>
   <depend>continental_msgs</depend>
@@ -31,7 +29,6 @@
   <depend>nebula_core_common</depend>
   <depend>nebula_core_ros</depend>
   <depend>nebula_msgs</depend>
-  <depend>pcl_conversions</depend>
   <depend>radar_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
@@ -43,7 +40,6 @@
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>libpcl-all-dev</test_depend>
   <test_depend>ros_testing</test_depend>
   <test_depend>rosbag2_cpp</test_depend>
 

src/nebula_continental/nebula_continental/src/continental_ars548_decoder_wrapper.cpp

@@ -18,8 +18,7 @@
 #include "nebula_core_ros/sync_tooling/sync_tooling_worker.hpp"
 
 #include <nebula_core_common/util/string_conversions.hpp>
-
-#include <pcl_conversions/pcl_conversions.h>
+#include <nebula_core_ros/point_cloud_conversions.hpp>
 
 #include <algorithm>
 #include <chrono>
@@ -204,9 +203,9 @@ void ContinentalARS548DecoderWrapper::detection_list_callback(
   if (
     detection_pointcloud_pub_->get_subscription_count() > 0 ||
     detection_pointcloud_pub_->get_intra_process_subscription_count() > 0) {
-    const auto detection_pointcloud_ptr = convert_to_pointcloud(*msg);
+    const auto detection_pointcloud = convert_to_pointcloud(*msg);
     auto detection_pointcloud_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*detection_pointcloud_ptr, *detection_pointcloud_msg_ptr);
+    *detection_pointcloud_msg_ptr = nebula::ros::to_ros_msg(detection_pointcloud);
 
     detection_pointcloud_msg_ptr->header = msg->header;
     detection_pointcloud_pub_->publish(std::move(detection_pointcloud_msg_ptr));
@@ -245,9 +244,9 @@ void ContinentalARS548DecoderWrapper::object_list_callback(
   if (
     object_pointcloud_pub_->get_subscription_count() > 0 ||
     object_pointcloud_pub_->get_intra_process_subscription_count() > 0) {
-    const auto object_pointcloud_ptr = convert_to_pointcloud(*msg);
+    const auto object_pointcloud = convert_to_pointcloud(*msg);
     auto object_pointcloud_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*object_pointcloud_ptr, *object_pointcloud_msg_ptr);
+    *object_pointcloud_msg_ptr = nebula::ros::to_ros_msg(object_pointcloud);
 
     object_pointcloud_msg_ptr->header = msg->header;
     object_pointcloud_pub_->publish(std::move(object_pointcloud_msg_ptr));
@@ -731,15 +730,14 @@ ContinentalARS548DecoderWrapper::convert_to_autoware_radar_objects(
   return autoware_objects;
 }
 
-pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>::Ptr
+drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>
 ContinentalARS548DecoderWrapper::convert_to_pointcloud(
   const continental_msgs::msg::ContinentalArs548DetectionList & msg)
 {
   namespace ars548 = nebula::drivers::continental_ars548;
 
-  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>::Ptr output_pointcloud(
-    new pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection>);
-  output_pointcloud->reserve(msg.detections.size());
+  drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Detection> output_pointcloud;
+  output_pointcloud.reserve(msg.detections.size());
 
   nebula::drivers::continental_ars548::PointARS548Detection point{};
   for (const auto & detection : msg.detections) {
@@ -767,23 +765,20 @@ ContinentalARS548DecoderWrapper::convert_to_pointcloud(
     point.object_id = detection.object_id;
     point.ambiguity_flag = ars548::normalize_probability(detection.raw_ambiguity_flag);
 
-    output_pointcloud->points.emplace_back(point);
+    output_pointcloud.emplace_back(point);
   }
 
-  output_pointcloud->height = 1;
-  output_pointcloud->width = output_pointcloud->points.size();
   return output_pointcloud;
 }
 
-pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>::Ptr
+drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>
 ContinentalARS548DecoderWrapper::convert_to_pointcloud(
   const continental_msgs::msg::ContinentalArs548ObjectList & msg)
 {
   namespace ars548 = nebula::drivers::continental_ars548;
 
-  pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>::Ptr output_pointcloud(
-    new pcl::PointCloud<nebula::drivers::continental_ars548::PointARS548Object>);
-  output_pointcloud->reserve(msg.objects.size());
+  drivers::PointCloud<nebula::drivers::continental_ars548::PointARS548Object> output_pointcloud;
+  output_pointcloud.reserve(msg.objects.size());
 
   nebula::drivers::continental_ars548::PointARS548Object point{};
   for (const auto & object : msg.objects) {
@@ -811,11 +806,9 @@ ContinentalARS548DecoderWrapper::convert_to_pointcloud(
     point.shape_width_edge_mean = object.shape_width_edge_mean;
     point.dynamics_orientation_rate_mean = object.orientation_rate_mean;
 
-    output_pointcloud->points.emplace_back(point);
+    output_pointcloud.emplace_back(point);
   }
 
-  output_pointcloud->height = 1;
-  output_pointcloud->width = output_pointcloud->points.size();
   return output_pointcloud;
 }
 

src/nebula_continental/nebula_continental/src/continental_srr520_decoder_wrapper.cpp

@@ -15,8 +15,7 @@
 #include "nebula_continental/continental_srr520_decoder_wrapper.hpp"
 
 #include <nebula_core_common/util/string_conversions.hpp>
-
-#include <pcl_conversions/pcl_conversions.h>
+#include <nebula_core_ros/point_cloud_conversions.hpp>
 
 #include <memory>
 #include <unordered_set>
@@ -155,9 +154,9 @@ void ContinentalSRR520DecoderWrapper::near_detection_list_callback(
   if (
     near_detection_pointcloud_pub_->get_subscription_count() > 0 ||
     near_detection_pointcloud_pub_->get_intra_process_subscription_count() > 0) {
-    const auto detection_pointcloud_ptr = convert_to_pointcloud(*msg);
+    const auto detection_pointcloud = convert_to_pointcloud(*msg);
     auto detection_pointcloud_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*detection_pointcloud_ptr, *detection_pointcloud_msg_ptr);
+    *detection_pointcloud_msg_ptr = nebula::ros::to_ros_msg(detection_pointcloud);
 
     detection_pointcloud_msg_ptr->header = msg->header;
     near_detection_pointcloud_pub_->publish(std::move(detection_pointcloud_msg_ptr));
@@ -184,9 +183,9 @@ void ContinentalSRR520DecoderWrapper::hrr_detection_list_callback(
   if (
     hrr_detection_pointcloud_pub_->get_subscription_count() > 0 ||
     hrr_detection_pointcloud_pub_->get_intra_process_subscription_count() > 0) {
-    const auto detection_pointcloud_ptr = convert_to_pointcloud(*msg);
+    const auto detection_pointcloud = convert_to_pointcloud(*msg);
     auto detection_pointcloud_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*detection_pointcloud_ptr, *detection_pointcloud_msg_ptr);
+    *detection_pointcloud_msg_ptr = nebula::ros::to_ros_msg(detection_pointcloud);
 
     detection_pointcloud_msg_ptr->header = msg->header;
     hrr_detection_pointcloud_pub_->publish(std::move(detection_pointcloud_msg_ptr));
@@ -213,9 +212,9 @@ void ContinentalSRR520DecoderWrapper::object_list_callback(
   if (
     object_pointcloud_pub_->get_subscription_count() > 0 ||
     object_pointcloud_pub_->get_intra_process_subscription_count() > 0) {
-    const auto object_pointcloud_ptr = convert_to_pointcloud(*msg);
+    const auto object_pointcloud = convert_to_pointcloud(*msg);
     auto object_pointcloud_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*object_pointcloud_ptr, *object_pointcloud_msg_ptr);
+    *object_pointcloud_msg_ptr = nebula::ros::to_ros_msg(object_pointcloud);
 
     object_pointcloud_msg_ptr->header = msg->header;
     object_pointcloud_pub_->publish(std::move(object_pointcloud_msg_ptr));
@@ -249,13 +248,12 @@ void ContinentalSRR520DecoderWrapper::status_callback(
   status_pub_->publish(std::move(status_msg_ptr));
 }
 
-pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>::Ptr
+drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>
 ContinentalSRR520DecoderWrapper::convert_to_pointcloud(
   const continental_msgs::msg::ContinentalSrr520DetectionList & msg)
 {
-  pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>::Ptr output_pointcloud(
-    new pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection>);
-  output_pointcloud->reserve(msg.detections.size());
+  drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Detection> output_pointcloud;
+  output_pointcloud.reserve(msg.detections.size());
 
   nebula::drivers::continental_srr520::PointSRR520Detection point{};
   for (const auto & detection : msg.detections) {
@@ -275,21 +273,18 @@ ContinentalSRR520DecoderWrapper::convert_to_pointcloud(
     point.pdh04 = detection.pdh04;
     point.pdh05 = detection.pdh05;
 
-    output_pointcloud->points.emplace_back(point);
+    output_pointcloud.emplace_back(point);
   }
 
-  output_pointcloud->height = 1;
-  output_pointcloud->width = output_pointcloud->points.size();
   return output_pointcloud;
 }
 
-pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object>::Ptr
+drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object>
 ContinentalSRR520DecoderWrapper::convert_to_pointcloud(
   const continental_msgs::msg::ContinentalSrr520ObjectList & msg)
 {
-  pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object>::Ptr output_pointcloud(
-    new pcl::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object>);
-  output_pointcloud->reserve(msg.objects.size());
+  drivers::PointCloud<nebula::drivers::continental_srr520::PointSRR520Object> output_pointcloud;
+  output_pointcloud.reserve(msg.objects.size());
 
   nebula::drivers::continental_srr520::PointSRR520Object point{};
   for (const auto & object : msg.objects) {
@@ -312,11 +307,9 @@ ContinentalSRR520DecoderWrapper::convert_to_pointcloud(
     point.dynamics_abs_acc_x = object.a_abs_x;
     point.dynamics_abs_acc_y = object.a_abs_y;
 
-    output_pointcloud->points.emplace_back(point);
+    output_pointcloud.emplace_back(point);
   }
 
-  output_pointcloud->height = 1;
-  output_pointcloud->width = output_pointcloud->points.size();
   return output_pointcloud;
 }
 

src/nebula_continental/nebula_continental_common/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.20)
 project(nebula_continental_common)
 
 find_package(autoware_cmake REQUIRED)
+find_package(Boost REQUIRED)
 autoware_package()
 
 add_library(nebula_continental_common INTERFACE)
@@ -10,14 +11,15 @@ target_include_directories(
   nebula_continental_common
   INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
             $<INSTALL_INTERFACE:include>)
-target_link_libraries(nebula_continental_common
-                      INTERFACE nebula_core_common::nebula_core_common)
+target_link_libraries(
+  nebula_continental_common
+  INTERFACE nebula_core_common::nebula_core_common Boost::headers)
 
 install(TARGETS nebula_continental_common
         EXPORT export_nebula_continental_common)
 install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_nebula_continental_common)
-ament_export_dependencies(nebula_core_common)
+ament_export_dependencies(Boost nebula_core_common)
 
 ament_package()