SW-5466: Support Velodyne point type in the ROS driver amendments (#254)

* Add support to control point_type through launch.xml files + * Add a note to CHANGELOG about the breaking change for ptp/utc time offset
ouster-lidar · Nov 15, 2023 · 3d82e79 · 3d82e79
1 parent c828a20
commit 3d82e79
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Showing 8 changed files with 54 additions and 2 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -8,6 +8,8 @@ Changelog
 * introduced a new launch file parameter ``ptp_utc_tai_offset`` which represent offset in seconds
   to be applied to all ROS messages the driver generates when ``TIME_FROM_PTP_1588`` timestamp mode
   is used.
+  * [BREAKING]: the default value of ``ptp_utc_tai_offset`` is set to ``-37.0``. To retain the same
+    time offset for an existing system, users need to set ``ptp_utc_tai_offset`` to ``0.0``.
 * fix: destagger columns timestamp when generating destaggered point clouds.
 * shutdown the driver when unable to connect to the sensor on startup
 * breaking: rename ouster_msgs to ouster_sensor_msgs

diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
@@ -67,6 +67,15 @@
     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" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
@@ -93,6 +102,7 @@
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
         <param name="proc_mask" value="$(var proc_mask)"/>
         <param name="scan_ring" value="$(var scan_ring)"/>
+        <param name="point_type" value="$(var point_type)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>

diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
@@ -47,6 +47,15 @@
     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" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node if="$(var _use_metadata_file)" pkg="ouster_ros" exec="os_replay" name="os_replay" output="screen">
@@ -64,6 +73,7 @@
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
         <param name="proc_mask" value="$(var proc_mask)"/>
         <param name="scan_ring" value="$(var scan_ring)"/>
+        <param name="point_type" value="$(var point_type)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>

diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
@@ -63,6 +63,15 @@
     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" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -84,6 +93,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
   </group>
 

diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
@@ -65,6 +65,15 @@
     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" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_sensor" name="os_sensor" output="screen">
@@ -90,6 +99,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
     <node pkg="ouster_ros" exec="os_image" name="os_image" output="screen">
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>

diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -71,6 +71,15 @@
     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" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -92,6 +101,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
   </group>
 

diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.11.1</version>
+  <version>0.11.2</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

diff --git a/ouster-sensor-msgs/package.xml b/ouster-sensor-msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_sensor_msgs</name>
-  <version>0.11.1</version>
+  <version>0.11.2</version>
   <description>ouster_ros message and service definitions</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license>BSD</license>