Expose the parameters through launch files and update changelog

ouster-lidar · Sep 14, 2024 · 71fbced · 71fbced
1 parent 126334e
commit 71fbced
Show file tree

Hide file tree

Showing 12 changed files with 155 additions and 52 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -27,7 +27,10 @@ Changelog
   - RVIZ can't handle image resize
   - Can't handle points cloud resize properly (erroneous or corrupt PointCloud)
   - Doesn't detect and handle invalid configurations
-* updated ouster_client to the release of ``20240425`` [v0.11.1]; changes listed below.
+* Added a new parameter ``organized`` to request publishing unorganized point cloud
+* Added a new parameter ``destagger`` to request publishing staggered point cloud
+* Added two parameters ``min_range``, ``max_range`` to limit the lidar effective range
+* Updated ouster_client to the release of ``20240425`` [v0.11.1]; changes listed below.
 
 ouster_client
 -------------

diff --git a/include/ouster_ros/os_ros.h b/include/ouster_ros/os_ros.h
@@ -160,6 +160,14 @@ inline bool check_token(const std::set<std::string>& tokens,
 
 ouster::util::version parse_version(const std::string& fw_rev);
 
+template <typename T>
+uint64_t ulround(T value) {
+    T rounded_value = std::round(value);
+    if (rounded_value < 0) return 0ULL;
+    if (rounded_value > ULLONG_MAX) return ULLONG_MAX;
+    return static_cast<uint64_t>(rounded_value);
+}
+
 } // namespace impl
 
 }  // namespace ouster_ros
diff --git a/launch/common.launch b/launch/common.launch
@@ -41,6 +41,11 @@
     xyzir
     }"/>
 
+  <arg name="organized" doc="generate an organzied point cloud"/>
+  <arg name="destagger" doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_cloud_node"
@@ -60,6 +65,10 @@
       <param name="~/scan_ring" value="$(arg scan_ring)"/>
       <param name="~/ptp_utc_tai_offset" type="double" value="$(arg ptp_utc_tai_offset)"/>
       <param name="~/point_type" value="$(arg point_type)"/>
+      <param name="~/organized" value="$(arg organized)"/>
+      <param name="~/destagger" value="$(arg destagger)"/>
+      <param name="~/min_range" value="$(arg min_range)"/>
+      <param name="~/max_range" value="$(arg max_range)"/>
     </node>
   </group>
 

diff --git a/launch/driver.launch b/launch/driver.launch
@@ -5,22 +5,25 @@
   <arg name="udp_dest" default=" " doc="hostname or IP where the sensor will send data packets"/>
   <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
-  <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
+  <arg name="udp_profile_lidar" default=" "
+    doc="lidar packet profile; possible values: {
     LEGACY,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
     RNG19_RFL8_SIG16_NIR16_DUAL,
     FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
-  <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
+  <arg name="lidar_mode" default=" "
+    doc="resolution and rate; possible values: {
     512x10,
     512x20,
     1024x10,
     1024x20,
     2048x10,
     4096x5
     }"/>
-  <arg name="timestamp_mode" default=" " doc="method used to timestamp measurements; possible values: {
+  <arg name="timestamp_mode" default=" "
+    doc="method used to timestamp measurements; possible values: {
     TIME_FROM_INTERNAL_OSC,
     TIME_FROM_SYNC_PULSE_IN,
     TIME_FROM_PTP_1588,
@@ -56,8 +59,8 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
-  <arg name="point_type" default="original" doc="point type for the generated point cloud;
-   available options: {
+  <arg name="point_type" default="original"
+    doc="point type for the generated point cloud; available options: {
     original,
     native,
     xyz,
@@ -87,10 +90,10 @@
   <arg name="destagger" default="true"
     doc="enable or disable point cloud destaggering"/>
 
-  <arg name="min_range" default="0"
-    doc="minimum lidar range to consider (mm)"/>
-  <arg name="max_range" default="1000000"
-    doc="maximum lidar range to consider (mm)"/>
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="1000.0"
+    doc="maximum lidar range to consider (meters)"/>
 
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
@@ -129,6 +132,8 @@
              value="$(arg max_failed_reconnect_attempts)"/>
       <param name="~/organized" value="$(arg organized)"/>
       <param name="~/destagger" value="$(arg destagger)"/>
+      <param name="~/min_range" value="$(arg min_range)"/>
+      <param name="~/max_range" value="$(arg max_range)"/>
     </node>
   </group>
 

diff --git a/launch/replay.launch b/launch/replay.launch
@@ -12,8 +12,8 @@
   <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
   <arg name="metadata" default="" doc="path to read metadata file when replaying sensor data"/>
   <arg name="bag_file" doc="file name to use for the recorded bag file"/>
-  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" doc="A parameter that allows you to override the timestamp measurements;
-    possible values: {
+  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC"
+    doc="A parameter that allows you to override the timestamp measurements; possible values: {
     TIME_FROM_INTERNAL_OSC,
     TIME_FROM_SYNC_PULSE_IN,
     TIME_FROM_PTP_1588,
@@ -50,15 +50,25 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
-  <arg name="point_type" default="original" doc="point type for the generated point cloud;
-   available options: {
+  <arg name="point_type" default="original"
+    doc="point type for the generated point cloud; available options: {
     original,
     native,
     xyz,
     xyzi,
     xyzir
     }"/>
 
+  <arg name="organized" default="true"
+    doc="generate an organzied point cloud"/>
+  <arg name="destagger" default="true"
+    doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="1000.0"
+    doc="maximum lidar range to consider (meters)"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -93,6 +103,10 @@
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
     <arg name="point_type" value="$(arg point_type)"/>
+    <arg name="organized" value="$(arg organized)"/>
+    <arg name="destagger" value="$(arg destagger)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
   </include>
 
   <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>

diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
@@ -6,8 +6,8 @@
   <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
   <arg name="metadata" doc="path to read metadata file when replaying sensor data"/>
   <arg name="pcap_file" doc="file name to use for the recorded pcap file"/>
-  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" doc="A parameter that allows you to override the timestamp measurements;
-    possible values: {
+  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC"
+    doc="A parameter that allows you to override the timestamp measurements; possible values: {
     TIME_FROM_INTERNAL_OSC,
     TIME_FROM_SYNC_PULSE_IN,
     TIME_FROM_PTP_1588,
@@ -44,15 +44,25 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
-  <arg name="point_type" default="original" doc="point type for the generated point cloud;
-   available options: {
+  <arg name="point_type" default="original"
+    doc="point type for the generated point cloud; available options: {
     original,
     native,
     xyz,
     xyzi,
     xyzir
     }"/>
 
+  <arg name="organized" default="true"
+    doc="generate an organzied point cloud"/>
+  <arg name="destagger" default="true"
+    doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="1000.0"
+    doc="maximum lidar range to consider (meters)"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -86,6 +96,10 @@
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
     <arg name="point_type" value="$(arg point_type)"/>
+    <arg name="organized" value="$(arg organized)"/>
+    <arg name="destagger" value="$(arg destagger)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
   </include>
 
 

diff --git a/launch/sensor.launch b/launch/sensor.launch
@@ -5,22 +5,25 @@
   <arg name="udp_dest" default=" " doc="hostname or IP where the sensor will send data packets"/>
   <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
-  <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
+  <arg name="udp_profile_lidar" default=" "
+    doc="lidar packet profile; possible values: {
     LEGACY,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
     RNG19_RFL8_SIG16_NIR16_DUAL,
     FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
-  <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
+  <arg name="lidar_mode" default=" "
+    doc="resolution and rate; possible values: {
     512x10,
     512x20,
     1024x10,
     1024x20,
     2048x10,
     4096x5
     }"/>
-  <arg name="timestamp_mode" default=" " doc="method used to timestamp measurements; possible values: {
+  <arg name="timestamp_mode" default=" "
+    doc="method used to timestamp measurements; possible values: {
     TIME_FROM_INTERNAL_OSC,
     TIME_FROM_SYNC_PULSE_IN,
     TIME_FROM_PTP_1588,
@@ -64,8 +67,8 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
-  <arg name="point_type" default="original" doc="point type for the generated point cloud;
-   available options: {
+  <arg name="point_type" default="original"
+    doc="point type for the generated point cloud; available options: {
     original,
     native,
     xyz,
@@ -90,6 +93,16 @@
     doc="maximum number of attempts trying to communicate with the sensor.
          Counter resets upon successful connection"/>
 
+  <arg name="organized" default="true"
+    doc="generate an organzied point cloud"/>
+  <arg name="destagger" default="true"
+    doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="1000.0"
+    doc="maximum lidar range to consider (meters)"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -137,6 +150,10 @@
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
     <arg name="point_type" value="$(arg point_type)"/>
+    <arg name="organized" value="$(arg organized)"/>
+    <arg name="destagger" value="$(arg destagger)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
   </include>
 
 </launch>
diff --git a/launch/sensor_mtp.launch b/launch/sensor_mtp.launch
@@ -9,22 +9,25 @@
     start client with active configuration of sensor"/>
   <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
-  <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
+  <arg name="udp_profile_lidar" default=" "
+    doc="lidar packet profile; possible values: {
     LEGACY,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
     RNG19_RFL8_SIG16_NIR16_DUAL,
     FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
-  <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
+  <arg name="lidar_mode" default=" "
+    doc="resolution and rate; possible values: {
     512x10,
     512x20,
     1024x10,
     1024x20,
     2048x10,
     4096x5
     }"/>
-  <arg name="timestamp_mode" default=" " doc="method used to timestamp measurements; possible values: {
+  <arg name="timestamp_mode" default=" "
+    doc="method used to timestamp measurements; possible values: {
     TIME_FROM_INTERNAL_OSC,
     TIME_FROM_SYNC_PULSE_IN,
     TIME_FROM_PTP_1588,
@@ -68,27 +71,45 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
-  <arg name="point_type" default="original" doc="point type for the generated point cloud;
-   available options: {
+  <arg name="point_type" default="original"
+    doc="point type for the generated point cloud; available options: {
     original,
     native,
     xyz,
     xyzi,
     xyzir
     }"/>
 
-  <arg name="azimuth_window_start" default="0" doc="azimuth window start,
+  <arg name="azimuth_window_start" default="0" doc="azimuth window start;
     values range [0, 360000] millidegrees"/>
-  <arg name="azimuth_window_end" default="360000" doc="azimuth window end,
+  <arg name="azimuth_window_end" default="360000" doc="azimuth window end;
     values range [0, 360000] millidegrees"/>
 
   <arg name="persist_config" default="false"
     doc="request the sensor to persist settings"/>
 
+  <arg name="attempt_reconnect" default="false"
+    doc="attempting to reconnect to the sensor after connection loss or
+    sensor powered down"/>
+  <arg name="dormant_period_between_reconnects" default="1.0"
+    doc="wait time in seconds between reconnection attempts"/>
+  <arg name="max_failed_reconnect_attempts" default="2147483647"
+    doc="maximum number of attempts trying to communicate with the sensor.
+         Counter resets upon successful connection"/>
+
+  <arg name="organized" default="true"
+    doc="generate an organzied point cloud"/>
+  <arg name="destagger" default="true"
+    doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="1000.0"
+    doc="maximum lidar range to consider (meters)"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
-      output="screen" required="true"
-      args="manager"/>
+      output="screen" required="true" args="manager"/>
   </group>
 
   <group ns="$(arg ouster_ns)">
@@ -108,6 +129,11 @@
       <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
       <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
       <param name="~/persist_config" value="$(arg persist_config)"/>
+      <param name="~/attempt_reconnect" value="$(arg attempt_reconnect)"/>
+      <param name="~/dormant_period_between_reconnects"
+             value="$(arg dormant_period_between_reconnects)"/>
+      <param name="~/max_failed_reconnect_attempts"
+             value="$(arg max_failed_reconnect_attempts)"/>
     </node>
   </group>
 
@@ -130,6 +156,10 @@
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
     <arg name="point_type" value="$(arg point_type)"/>
+    <arg name="organized" value="$(arg organized)"/>
+    <arg name="destagger" value="$(arg destagger)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
   </include>
 
 </launch>