Include option to use PointCloud Transport

[elsayedelsheikh]

Updates related to ros-navigation/navigation2#5264

[SteveMacenski]

LGTM! Can you add in the migration guide reference for support for point cloud transport compression in the collision monitor and costmap layers?

[elsayedelsheikh]

LGTM! Can you add in the migration guide reference for support for point cloud transport compression in the collision monitor and costmap layers?

Sure! :-)

[SteveMacenski]

@elsayedelsheikh I think that's all that's blocking here. I'd be curious if you had any perf metrics if using compression vs not using compression to share in it :-)

[elsayedelsheikh]

@SteveMacenski Check this migration guide.
I looked for benchmarking tools for these transports, also checked Cloudini repo, but only found a mention of rosbag_benchmark I can dig deeper if needed.

The guide currently covers bandwidth only for performance metrics as I didn't mention encoding/decoding speed, lossy vs. lossless, or CPU load. I guess if the sensor manufacturer provides point_cloud_transport support out of the box, it’s likely just a matter of selecting the right transport_type for Nav2.