Hello. I have an existing ROS2 lidar processing pipeline that consists of several ROS2 nodes. I would like to move the more resource intensive data processing steps to my GPU, and it seems like Isaac ROS (and specifically NITROS) is the best way to achieve this goal.
I see references to NitrosPointCloud as being the NITROS equivalent interface for ROS2’s sensor_msgs/msg/PointCloud2 interface, but it isn’t clear to me how I can leverage that NitrosPointCloud type in practice, and whether or not that NitrosPointCloud type will support custom point types (that include more than just x/y/z/rgb information).
Any pointers to good references or examples utilizing the NitrosPointCloud pub/subs would be appreciated. The closest example I’ve found is the isaac_ros_map_localization package, but I’m not sure that’s quite what I need.
Thanks!