[Proposal] Contributing optional ROS/ROS2 interface headers

[Ikhyeon-Cho]

Hi @koide3,

Thank you for the great work on small_gicp!

I've developed ROS/ROS2 bridge utilities for small_gicp and would like to contribute them as optional headers. Before opening a PR, I wanted to check if this aligns with the project's direction.

I'm using small_gicp in my project and have implemented conversion utilities between sensor_msgs::PointCloud2 and small_gicp point clouds. I believe this could benefit other ROS users while preserving the library's "minimum dependencies" philosophy.

Proposed structure (same pattern as existing pcl/ folder):

include/small_gicp/ros/ros1.hpp - ROS1 sensor_msgs/PointCloud2
include/small_gicp/ros/ros2.hpp - ROS2 sensor_msgs/msg/PointCloud2

• Header-only: No changes to the core library build
• Zero dependency if not included: Same optional pattern as PCL
• Minimal scope: Only point cloud conversion

Would you be interested in including this? Any concerns or preferences I should consider?

Thanks!

[koide3]

Thank you for your proposal. It would be good to add optional ROS interfaces to this package. I would be happy to review the new feature if you could open a PR.