Two more

patch/ros-noetic-laser-ortho-projector.patch

@@ -0,0 +1,25 @@
+diff --git a/src/laser_ortho_projector.cpp b/src/laser_ortho_projector.cpp
+index c5bdc45..ae99129 100644
+--- a/src/laser_ortho_projector.cpp
++++ b/src/laser_ortho_projector.cpp
+@@ -191,7 +191,7 @@ void LaserOrthoProjector::scanCallback(const sensor_msgs::LaserScan::ConstPtr& s
+   // **** build and publish projected cloud
+
+   PointCloudT::Ptr cloud = 
+-    boost::shared_ptr<PointCloudT>(new PointCloudT());
++    std::shared_ptr<PointCloudT>(new PointCloudT());
+
+   pcl_conversions::toPCL(scan_msg->header, cloud->header);
+   cloud->header.frame_id = ortho_frame_;
+@@ -217,7 +217,10 @@ void LaserOrthoProjector::scanCallback(const sensor_msgs::LaserScan::ConstPtr& s
+   cloud->height = 1;
+   cloud->is_dense = true; // no nan's present 
+
+-  cloud_publisher_.publish (cloud);
++  sensor_msgs::PointCloud2 out_cloud;
++  pcl::toROSMsg(*cloud, out_cloud);
++
++  cloud_publisher_.publish (out_cloud);
+ }
+
+ bool LaserOrthoProjector::getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr& scan_msg)

patch/ros-noetic-scan-to-cloud-converter.patch

@@ -0,0 +1,34 @@
+diff --git a/src/scan_to_cloud_converter.cpp b/src/scan_to_cloud_converter.cpp
+index 749c9dd..8f19af4 100644
+--- a/src/scan_to_cloud_converter.cpp
++++ b/src/scan_to_cloud_converter.cpp
+@@ -43,7 +43,7 @@ ScanToCloudConverter::ScanToCloudConverter(ros::NodeHandle nh, ros::NodeHandle n
+   invalid_point_.y = std::numeric_limits<float>::quiet_NaN();
+   invalid_point_.z = std::numeric_limits<float>::quiet_NaN();
+
+-  cloud_publisher_ = nh_.advertise<PointCloudT>(
++  cloud_publisher_ = nh_.advertise<sensor_msgs::PointCloud2>(
+     "cloud", 1); 
+   scan_subscriber_ = nh_.subscribe(
+     "scan", 1, &ScanToCloudConverter::scanCallback, this);
+@@ -57,7 +57,7 @@ ScanToCloudConverter::~ScanToCloudConverter()
+ void ScanToCloudConverter::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
+ {
+   PointCloudT::Ptr cloud_msg =
+-    boost::shared_ptr<PointCloudT>(new PointCloudT());
++    std::shared_ptr<PointCloudT>(new PointCloudT());
+
+   cloud_msg->points.resize(scan_msg->ranges.size());
+
+@@ -81,8 +81,10 @@ void ScanToCloudConverter::scanCallback(const sensor_msgs::LaserScan::ConstPtr&
+   cloud_msg->height = 1;
+   cloud_msg->is_dense = false; //contains nans
+   pcl_conversions::toPCL(scan_msg->header, cloud_msg->header);
++  sensor_msgs::PointCloud2 out_cloud;
++  pcl::toROSMsg(*cloud_msg, out_cloud);
+
+-  cloud_publisher_.publish(cloud_msg);
++  cloud_publisher_.publish(out_cloud);
+ }
+
+ } //namespace scan_tools

vinca_linux_64.yaml

@@ -33,7 +33,10 @@ packages_select_by_deps:
   ##
   #  TODO Linux
   ##
-  - phidgets_drivers
+  - scan_to_cloud_converter
+  - laser_ortho_projector
+
+  # - phidgets_drivers
   # - mrpt2
   # - knowledge_representation
   # - multirobot_map_merge