Add thread_safe_ring_buffer +

Switch to using threads for packet processing in os_sensor node +
Add new wreset service +
Add metadata service to os_replay

include/ouster_ros/os_sensor_nodelet_base.h

@@ -20,18 +20,18 @@ class OusterSensorNodeletBase : public nodelet::Nodelet {
         return arg.find_first_not_of(' ') != std::string::npos;
     }
 
-    void create_get_metadata_service(ros::NodeHandle& nh);
+    void create_get_metadata_service();
 
-    void create_metadata_publisher(ros::NodeHandle& nh);
+    void create_metadata_publisher();
 
     void publish_metadata();
 
     void display_lidar_info(const ouster::sensor::sensor_info& info);
 
     std::string read_text_file(const std::string& text_file);
 
-    bool write_text_to_file(
-        const std::string& file_path, const std::string& text);
+    bool write_text_to_file(const std::string& file_path,
+                            const std::string& text);
 
    protected:
     ouster::sensor::sensor_info info;

src/os_replay_nodelet.cpp

@@ -20,16 +20,16 @@ namespace nodelets_os {
 class OusterReplay : public OusterSensorNodeletBase {
    private:
     virtual void onInit() override {
-        NODELET_INFO("Running in replay mode");
         auto meta_file = get_meta_file();
-        create_metadata_publisher(getNodeHandle());
+        create_metadata_publisher();
         load_metadata_from_file(meta_file);
         publish_metadata();
+        create_get_metadata_service();
+        NODELET_INFO("Running in replay mode");
     }
 
     std::string get_meta_file() const {
-        auto& pnh = getPrivateNodeHandle();
-        auto meta_file = pnh.param("metadata", std::string{});
+        auto meta_file = getPrivateNodeHandle().param("metadata", std::string{});
         if (!is_arg_set(meta_file)) {
             NODELET_ERROR("Must specify metadata file in replay mode");
             throw std::runtime_error("metadata no specificed");