Compressing the pointcloud

[VeeranjaneyuluToka]

Hi,

I am using ros2 humble and installed this packages and implemented so that it will publish the compressed topic. Here is the implementation of a simple node

#include "sensor_msgs/msg/point_cloud2.hpp"
#include "point_cloud_transport/point_cloud_transport.hpp"

class pointcloudCompressor : public rclcpp::Node{
public:
    pointcloudCompressor() : Node("pointcloud_compressor_node"){
        RCLCPP_INFO(this->get_logger(), "pointcloud compressor node has been started");

        // Create a reqular ROS2 subscriber for PointCloud2
        raw_subscriber_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
            "/ouster_front/points", rclcpp::QoS{1}.best_effort(),
            std::bind(&pointcloudCompressor::compressCallback, this, std::placeholders::_1));
    }


protected:
    void compressCallback(const sensor_msgs::msg::PointCloud2 &msg);

    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr raw_subscriber_;
    // std::shared_ptr<point_cloud_transport::PointCloudTransport> point_cloud_transport_;
    // point_cloud_transport::Publisher pcl_compress_publisher_;
    // rclcpp::TimerBase::SharedPtr timer_;
    point_cloud_transport::Publisher compressed_publisher_;
    point_cloud_transport::Subscriber subscriber_;
};

void pointcloudCompressor::compressCallback(const sensor_msgs::msg::PointCloud2 &msg){
    RCLCPP_INFO(this->get_logger(), "Received point cloud with %lu bytes:", msg.data.size());

    // // Initialize the PointCloudTransport
    // point_cloud_transport_ = std::make_shared<point_cloud_transport::PointCloudTransport>(shared_from_this());

    // // Advertise the compressed point cloud topic
    // pcl_compress_publisher_ = point_cloud_transport_->advertise("/ouster_front/compressed_points", 10);

    // Create a compressed point cloud publisher
    compressed_publisher_ = point_cloud_transport::create_publisher(shared_from_this(), "/ouster_front/compressed_points");

    compressed_publisher_.publish(msg);
}

int main(int argc, char *argv[]){
    rclcpp::init(argc, argv);
    auto node = std::make_shared<pointcloudCompressor>();
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
} 

When i see the topic by "ros2 topic list", it shows the topic name but when i try to echo, i can not and try to check bandwindth also.

You could see i followed different examples, so would there be any problem in the above implementation? Thanks!