ROS-436: define padding-free PointXYZI point type

[Samahu]

Related Issues & PRs

• Related: Reduce sensor_msgs::msg::PointCloud2 size by 50%, when using pcl::PointXYZI #436
• Related[ROS2]: ROS-436[ROS2]: define padding-free PointXYZI #439

Summary of Changes

• Implemented a padding-free version of the pcl::PointXYZI dupped ouster_ros::PointXYZI

Validation

1. pcl::PointXYZI

• Run ouster_ros with xyzi point type

roslaunch ouster_ros driver.launch sensor_hostname:=<...> point_type:="xyzi"

• Echo /ouster/points topic and observe that:

fields: "<array type: sensor_msgs/PointField, length: 4>"
point_step: 32

2. ouster_ros::PointXYZI

• Re-run ouster_ros with o_xyzi point type

roslaunch ouster_ros driver.launch sensor_hostname:=<...> point_type:="xyzi"

• Echo /ouster/points topic and observe that:

fields: "<array type: sensor_msgs/PointField, length: 4>"
point_step: 16