Merge pull request #59 from AutoModality/SENSOR_PROXIMITY_TOPIC_FIX

fix: am_topics.cpp fix for SENSOR_PROXIMITY

Author: ajanani85

include/am_utils/point_types.h

@@ -18,6 +18,16 @@ struct PointXYZIR
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW   // make sure our new allocators are aligned
 } EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
 
+
+struct PointXYZIRNormal
+{
+ PCL_ADD_POINT4D;                  // preferred way of adding a XYZ+padding
+ PCL_ADD_UNION_NORMAL4D;
+ float intensity;
+ float range;
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW   // make sure our new allocators are aligned
+} EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
+
 }
 
 POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIR,
@@ -28,4 +38,15 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIR,
                                     (float, range, range)
  )
 
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIRNormal,
+                                    (float, x, x)
+                                    (float, y, y)
+                                    (float, z, z)
+                                    (float, normal_x, normal_x)
+                                    (float, normal_y, normal_y)
+                                    (float, normal_z, normal_z)
+                                    (float, intensity, intensity)
+                                    (float, range, range)
+ )
+
 #endif /*AM_UTILS_INCLUDE_AM_UTILS_POINT_TYPE_H_*/

include/vb_util_lib/topics.h

@@ -90,7 +90,7 @@ class am_topics
 	static constexpr char SENSOR_DISTANCE_AGL_LW[] = "/sensor/distance/agl_lw";
 	static constexpr char SENSOR_DISTANCE_DISTANCES_LW20[] = "/sensor/distance/distances_lw20";
 
-        static constexpr char SENSOR_PROXIMITY[] = "/sensor/proximity";
+    static constexpr char SENSOR_PROXIMITY[] = "/sensor/proximity";
 
         //dji vision topics generated by dji_vision nodes(raw and rectified for both ImageTransport and SharedMemory)
 	//image_transport

src/vb_util_lib/topics.cpp

@@ -84,6 +84,8 @@ constexpr char am_topics::SENSOR_DISTANCE_AGL[];
 constexpr char am_topics::SENSOR_DISTANCE_AGL_LW[];
 constexpr char am_topics::SENSOR_DISTANCE_DISTANCES_LW20[];
 
+constexpr char am_topics::SENSOR_PROXIMITY[];
+
 constexpr char am_topics::STATUS_CEIL[];
 constexpr char am_topics::STATUS_CORR[];
 constexpr char am_topics::STATUS_LIDAR[];