VictorLee ZhenshengLee

Debug ROS2 C++ node on VSCode (Ubuntu)

This is a small tutorial on how to debug a ROS2 C++ node usign VSCode.

This implementation was done using:

Import the pointcloud file in ".ply" file format in . Before importing make sure you do some pre-processing / cleaning on point cloud so as to ease the process of meshing.

Next we need to reduce the number of point samples for smooth meshing.
- So go to Filters -> Point Set -> Point Cloud Simplification. Enter Number of samples circa 5% of original number of points. Make sure Best Sample Heuristic is checked.
After point cloud simplification, make sure to select Simplified point cloud in the Show Layer Dialog on the right hand side. If not visible, it can be opened by navigating to View -> Show Layer Dialog. Now we need to compute normals for point set.
So go to Filters -> Point Set -> Compute normals for point sets . Enter Neighbour num between 10 - 100. Initially try with 10 and

	# One liner
	wget --recursive --page-requisites --adjust-extension --span-hosts --convert-links --restrict-file-names=windows --domains yoursite.com --no-parent yoursite.com

	# Explained
	wget \
	--recursive \ # Download the whole site.
	--page-requisites \ # Get all assets/elements (CSS/JS/images).
	--adjust-extension \ # Save files with .html on the end.
	--span-hosts \ # Include necessary assets from offsite as well.
	--convert-links \ # Update links to still work in the static version.