AS: adding first phase of orientation

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/examples_rclpy_pointcloud_publisher/pointcloud_publisher

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+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'examples-rclpy-pointcloud-publisher==0.15.3','console_scripts','pointcloud_publisher'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'examples-rclpy-pointcloud-publisher==0.15.3'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('examples-rclpy-pointcloud-publisher==0.15.3', 'console_scripts', 'pointcloud_publisher')())

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: examples-rclpy-pointcloud-publisher
+Version: 0.15.3
+Summary: Example on how to publish a Pointcloud2 message
+Home-page: UNKNOWN
+Maintainer: Aditya Pande, Shane Loretz
+Maintainer-email: aditya.pande@openrobotics.org, shane@openrobotics.org
+License: Apache 2.0
+Platform: UNKNOWN
+
+UNKNOWN
+

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/SOURCES.txt

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+package.xml
+setup.cfg
+setup.py
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/PKG-INFO
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/SOURCES.txt
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/dependency_links.txt
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/entry_points.txt
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/requires.txt
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/top_level.txt
+../../../../../build/examples_rclpy_pointcloud_publisher/examples_rclpy_pointcloud_publisher.egg-info/zip-safe
+examples_rclpy_pointcloud_publisher/__init__.py
+examples_rclpy_pointcloud_publisher/pointcloud_publisher.py
+resource/examples_rclpy_pointcloud_publisher
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/entry_points.txt

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+[console_scripts]
+pointcloud_publisher = examples_rclpy_pointcloud_publisher.pointcloud_publisher:main
+

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/top_level.txt

@@ -0,0 +1 @@
+examples_rclpy_pointcloud_publisher

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher-0.15.3-py3.10.egg-info/zip-safe

@@ -0,0 +1 @@
+

ros2_ws/install/examples_rclpy_pointcloud_publisher/lib/python3.10/site-packages/examples_rclpy_pointcloud_publisher/pointcloud_publisher.py

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+# Copyright 2020 Evan Flynn
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import numpy as np
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import PointCloud2
+from sensor_msgs.msg import PointField
+from sensor_msgs_py import point_cloud2
+from std_msgs.msg import Header
+
+
+class PointCloudPublisher(Node):
+
+    rate = 30
+    moving = True
+    width = 100
+    height = 100
+
+    header = Header()
+    header.frame_id = 'map'
+
+    dtype = PointField.FLOAT32
+    point_step = 16
+    fields = [PointField(name='x', offset=0, datatype=dtype, count=1),
+              PointField(name='y', offset=4, datatype=dtype, count=1),
+              PointField(name='z', offset=8, datatype=dtype, count=1),
+              PointField(name='intensity', offset=12, datatype=dtype, count=1)]
+
+    def __init__(self):
+        super().__init__('pc_publisher')
+        self.publisher_ = self.create_publisher(PointCloud2, 'test_cloud', 10)
+        timer_period = 1 / self.rate
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.counter = 0
+
+    def timer_callback(self):
+        self.header.stamp = self.get_clock().now().to_msg()
+        x, y = np.meshgrid(np.linspace(-2, 2, self.width), np.linspace(-2, 2, self.height))
+        z = 0.5 * np.sin(2*x-self.counter/10.0) * np.sin(2*y)
+        points = np.array([x, y, z, z]).reshape(4, -1).T
+        pc2_msg = point_cloud2.create_cloud(self.header, self.fields, points)
+        self.publisher_.publish(pc2_msg)
+
+        if self.moving:
+            self.counter += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    pc_publisher = PointCloudPublisher()
+    rclpy.spin(pc_publisher)
+    pc_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()