Disable static transform publishers and update changelog and package …

…version
ouster-lidar · May 5, 2023 · bef8dbc · bef8dbc
1 parent a8b643c
commit bef8dbc
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Showing 6 changed files with 6 additions and 5 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -26,6 +26,7 @@ ouster_ros(2)
   launch parameters.
 * bugfix: fixed an issue that prevents running multiple instances of the sensor and cloud components
   in the same process.
+* switch to using static transform publisher for the ros2 driver.
 
 ouster_client
 -------------

diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
@@ -53,7 +53,7 @@
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
     <arg name="ouster_ns" value="$(var ouster_ns)"/>
     <arg name="rviz_config" value="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="true"/>
+    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>

diff --git a/ouster-ros/launch/sensor.composite.launch.py b/ouster-ros/launch/sensor.composite.launch.py
@@ -78,7 +78,7 @@ def generate_launch_description():
     rviz_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([str(rviz_launch_file_path)]),
         condition=IfCondition(rviz_enable),
-        launch_arguments={'_enable_static_tf_publishers': 'true'}.items()
+        launch_arguments={'_enable_static_tf_publishers': 'false'}.items()
     )
 
     # HACK: to configure and activate the the sensor since state transition

diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
@@ -79,7 +79,7 @@
   <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml">
     <arg name="ouster_ns" value="$(var ouster_ns)"/>
     <arg name="rviz_config" value="$(var rviz_config)"/>
-    <arg name="_enable_static_tf_publishers" value="true"/>
+    <arg name="_enable_static_tf_publishers" value="false"/>
     <arg name="sensor_frame" value="$(var sensor_frame)"/>
     <arg name="lidar_frame" value="$(var lidar_frame)"/>
     <arg name="imu_frame" value="$(var imu_frame)"/>

diff --git a/ouster-ros/launch/sensor.independent.launch.py b/ouster-ros/launch/sensor.independent.launch.py
@@ -106,7 +106,7 @@ def generate_launch_description():
     rviz_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([str(rviz_launch_file_path)]),
         condition=IfCondition(rviz_enable),
-        launch_arguments={'_enable_static_tf_publishers': 'true'}.items()
+        launch_arguments={'_enable_static_tf_publishers': 'false'}.items()
     )
 
     return launch.LaunchDescription([

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>0.8.3</version>
+  <version>0.8.4</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>