Issues

ROS2 Missing features

1. PCL

• PCL library is not ported completely.
• Open issue: https://github.com/ros-perception/perception_pcl/issues/225
• https://github.com/mikeferguson/ros2_cookbook/blob/main/rclcpp/pcl.md

2. Message filters

• Message filters are not compatible with the Lifecycle Nodes (in Foxy)
• Featured added in Humble: https://github.com/ros2/message_filters/commit/a3e415f0f549655f49a671cf04d57e68e2bdbb77

3. Lifecycle

• Automatic transition of lifecycle entities when node transitions: https://github.com/ros2/rclcpp/pull/1863 (humble)
• https://github.com/ros2/rclcpp/pull/1836

4. Composition

• Currently there is no method available for a component to unload itself from a container, and this has to be done via command line interface.

5. Dynamic parameters

• No support to add parameter descriptions in YAML file. Issue
• No support to group parameters in rqt reconfigure. Issue

6. Realsense camera node

• In the installation instructions (in Wiki/notes section), after running the below command

$ rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

• we might get the following error

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
realsense2_camera: No definition of [diagnostic_updater] for OS version [focal]
realsense2_description: No definition of [xacro] for OS version [focal]

• Working solution: manually install the packages via apt as shown below

sudo apt install ros-rolling-diagnostic-updater
sudo apt install ros-rolling-xacro
sudo apt install ros-rolling-cv-bridge