“No bodies found in SelfMask” when using URDF file

[DK-feng]

Hello！
I am currently using this ROS2 package to filter out redundant points from my robotic arm.
My original point cloud is obtained in Gazebo using a depth camera mounted on the end-effector.
The point cloud in ROS2 is of type sensor_msgs/msg/PointCloud2.

While trying to integrate this package, I ran into a few issues:

1. RGBD camera compatibility

• I am not sure if point clouds from an RGBD camera are supported.
• Most of the naming in the code refers to lidar, but since they are all point clouds, I assumed they should be compatible.

2. Error with lidar_sensor_type = 1 (XYZRGBSensor)

• My point cloud includes RGB information, so I initially set lidar_sensor_type to 1 (XYZRGBSensor).
• This resulted in the error:

Sensor type not handled for shape publishing

• The error disappears when I set lidar_sensor_type to 0 (XYZSensor).

3. robot_description parameter issue

• My robot is described in a URDF file that includes STL mesh files.
• I am not sure what exactly should be passed into the robot_description parameter.
• I keep getting the following error:

No bodies found in SelfMask

• I suspect the issue is related to how I’m passing the robot_description.

Questions:

• Does this package support point clouds obtained from an RGBD camera (i.e., XYZRGB format)?
• Does it support URDF models that reference STL mesh files?
• What is the correct way to provide the robot_description parameter (I believe this might be the root cause of my issue)?

Thanks in advance for your help!