Update get_n_returns to include FUSA profile

ouster-lidar · May 28, 2024 · 313f8d9 · 313f8d9
1 parent b81bb22
commit 313f8d9
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/src/os_ros.cpp b/src/os_ros.cpp
@@ -35,10 +35,11 @@ bool is_legacy_lidar_profile(const sensor::sensor_info& info) {
 
 int get_n_returns(const sensor::sensor_info& info) {
     using sensor::UDPProfileLidar;
-    return info.format.udp_profile_lidar ==
-                   UDPProfileLidar::PROFILE_RNG19_RFL8_SIG16_NIR16_DUAL
-               ? 2
-               : 1;
+    if (info.format.udp_profile_lidar == UDPProfileLidar::PROFILE_RNG19_RFL8_SIG16_NIR16_DUAL ||
+        info.format.udp_profile_lidar == UDPProfileLidar::PROFILE_FUSA_RNG15_RFL8_NIR8_DUAL)
+        return 2;
+
+    return 1;
 }
 
 size_t get_beams_count(const sensor::sensor_info& info) {