From ab677be0d1ff696ab3978b07087ae3a5ce71c002 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Tue, 14 Nov 2023 14:16:09 -0800
Subject: [PATCH] Enable controlling the point_type through launch files

---
 CHANGELOG.rst            |  1 -
 launch/common.launch     | 11 +++++++++++
 launch/driver.launch     | 10 ++++++++++
 launch/record.launch     | 10 ++++++++++
 launch/replay.launch     | 10 ++++++++++
 launch/sensor.launch     | 10 ++++++++++
 launch/sensor_mtp.launch | 10 ++++++++++
 7 files changed, 61 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0d3343c2..376c0311 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -58,7 +58,6 @@ ouster_client
 * [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10
 
 
-
 ouster_ros v0.9.0
 ==================
 
diff --git a/launch/common.launch b/launch/common.launch
index 81af6c23..ef3725e2 100644
--- a/launch/common.launch
+++ b/launch/common.launch
@@ -32,6 +32,16 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_cloud_node"
       output="screen" required="true"
@@ -49,6 +59,7 @@
       <param name="~/proc_mask" value="$(arg proc_mask)"/>
       <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)"/>
     </node>
   </group>
 
diff --git a/launch/driver.launch b/launch/driver.launch
index 0f034c11..0cc23f05 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -55,6 +55,15 @@
     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" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -81,6 +90,7 @@
       <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
       <param name="~/proc_mask" value="$(arg proc_mask)"/>
       <param name="~/scan_ring" value="$(arg scan_ring)"/>
+      <param name="~/point_type" value="$(arg point_type)"/>
     </node>
   </group>
 
diff --git a/launch/record.launch b/launch/record.launch
index 04ba0213..ab32e6b5 100644
--- a/launch/record.launch
+++ b/launch/record.launch
@@ -58,6 +58,15 @@
     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" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -96,6 +105,7 @@
       value="$(arg dynamic_transforms_broadcast_rate)"/>
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
+    <arg name="point_type" value="$(arg point_type)"/>
   </include>
 
   <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>
diff --git a/launch/replay.launch b/launch/replay.launch
index ca73395c..85a85896 100644
--- a/launch/replay.launch
+++ b/launch/replay.launch
@@ -38,6 +38,15 @@
     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" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -71,6 +80,7 @@
       value="$(arg dynamic_transforms_broadcast_rate)"/>
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
+    <arg name="point_type" value="$(arg point_type)"/>
   </include>
 
   <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>
diff --git a/launch/sensor.launch b/launch/sensor.launch
index ecc950e5..003fed6a 100644
--- a/launch/sensor.launch
+++ b/launch/sensor.launch
@@ -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" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -101,6 +110,7 @@
       value="$(arg dynamic_transforms_broadcast_rate)"/>
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
+    <arg name="point_type" value="$(arg point_type)"/>
   </include>
 
 </launch>
diff --git a/launch/sensor_mtp.launch b/launch/sensor_mtp.launch
index 9784a281..db05f5eb 100644
--- a/launch/sensor_mtp.launch
+++ b/launch/sensor_mtp.launch
@@ -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" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true"
@@ -108,6 +117,7 @@
       value="$(arg dynamic_transforms_broadcast_rate)"/>
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
+    <arg name="point_type" value="$(arg point_type)"/>
   </include>
 
 </launch>