Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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+<class_libraries>
+
+  <library path="lib/libcloud_nodelet">
+    <class name="velodyne_pointcloud/CloudNodelet"
+           type="velodyne_pointcloud::CloudNodelet"
+           base_class_type="nodelet::Nodelet">
+      <description>
+        Aggregates points from multiple packets, publishing PointCloud2.
+      </description>
+    </class>
+  </library>
+
+  <library path="lib/libringcolors_nodelet">
+    <class name="velodyne_pointcloud/RingColorsNodelet"
+           type="velodyne_pointcloud::RingColorsNodelet"
+           base_class_type="nodelet::Nodelet">
+      <description>
+        Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors
+        for visualization of the laser rings.
+      </description>
+    </class>
+  </library>
+
+  <library path="lib/libtransform_nodelet">
+    <class name="velodyne_pointcloud/TransformNodelet"
+           type="velodyne_pointcloud::TransformNodelet"
+           base_class_type="nodelet::Nodelet">
+      <description>
+        Transforms packets into /map frame, publishing multiple packets
+        as PointCloud2.
+      </description>
+    </class>
+  </library>
+
+</class_libraries>