Putting glsl 1.50 resources back in RenderSystem

[pijaro]

GLSL version 1.50 resources were left commented out in RenderSystem class which resulted in performance hit in pointcloud rendering. #46 mentions this but was left behind for a long time now (2017).

I tested putting back 1.50 locally and it worked fine on ubuntu 20.04. Therefore I think it is safe to assume that this is no longer an issue.

Presented PR puts back glsl 1.50 resources and updates corresponding unit tests. This improves pointcloud rendering a lot (on my machine it is about 200% for 21mln pointcloud while rendering with primitives).

This may also fix #662

[pijaro]

@jacobperron can you take a look at this PR, please?

[adamdbrw]

@mjeronimo this one improves performance by a lot with point clouds and should be a quick one to review, could you take a look?

[mjeronimo]

I think this is OK as a first step. Going forward, I'd rather see these differences encapsulated into an object with methods such as get_size_of_single_vertex and get_num_vertices_per_box, for example.

[jacobperron]

@pijaro Does this resolve #670, or is that a separate issue?

[adamdbrw]

@jacobperron @pijaro AFAIK this is a separate issue

[pijaro]

@jacobperron @adamdbrw That's correct, #670 is a separate issue.

[jacobperron]

LGTM pending CI

• Linux
• Linux-aarch64
• macOS
• Windows

[jacobperron]

@ros-pull-request-builder retest this please

[pijaro]

I just committed a fix for windows.

@ros-pull-request-builder retest this please

[jacobperron]

@pijaro Thanks! Sorry, I meant to follow-up on that.

Windows:

[adamdbrw]

@jacobperron Would this be a good candidate for a Foxy backport?

[jacobperron]

@adamdbrw It looks like there is an issue with this patch (#681). I think it'd be better to let this soak on the ros2 branch, and then backport to Galactic. After it's had some time to soak in Galactic, I'd be open to backporting to Foxy.