Define the FUSA profile

ouster-lidar · May 28, 2024 · e82e98e · e82e98e
1 parent 313f8d9
commit e82e98e
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Showing 7 changed files with 15 additions and 8 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -12,7 +12,8 @@ Changelog
 * [BUGFIX]: LaserScan is not properly aligned with generated point cloud
   * address an issue where LaserScan appeared different on FW prior to 2.4
 * [BUGFIX]: LaserScan does not work when using dual mode
-* [BUGFIX]: Implement lock free ring buffer with throttling
+* [BUGFIX]: Implement lock free ring buffer with throttling to avoid generating partial frames
+* add support for FUSA udp profile ``Point_FUSA_RNG15_RFL8_NIR8_DUAL``
 
 
 ouster_ros v0.10.0

diff --git a/launch/driver.launch b/launch/driver.launch
@@ -7,9 +7,10 @@
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
   <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
     LEGACY,
-    RNG19_RFL8_SIG16_NIR16_DUAL,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
+    RNG19_RFL8_SIG16_NIR16_DUAL,
+    FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
   <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
     512x10,

diff --git a/launch/record.launch b/launch/record.launch
@@ -7,9 +7,10 @@
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
   <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
     LEGACY,
-    RNG19_RFL8_SIG16_NIR16_DUAL,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
+    RNG19_RFL8_SIG16_NIR16_DUAL,
+    FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
   <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
     512x10,

diff --git a/launch/sensor.launch b/launch/sensor.launch
@@ -7,9 +7,10 @@
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
   <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
     LEGACY,
-    RNG19_RFL8_SIG16_NIR16_DUAL,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
+    RNG19_RFL8_SIG16_NIR16_DUAL,
+    FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
   <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
     512x10,

diff --git a/launch/sensor_mtp.launch b/launch/sensor_mtp.launch
@@ -11,9 +11,10 @@
   <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
   <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
     LEGACY,
-    RNG19_RFL8_SIG16_NIR16_DUAL,
     RNG19_RFL8_SIG16_NIR16,
     RNG15_RFL8_NIR8
+    RNG19_RFL8_SIG16_NIR16_DUAL,
+    FUSA_RNG15_RFL8_NIR8_DUAL
     }"/>
   <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
     512x10,

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.12.2</version>
+  <version>0.12.3</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

diff --git a/src/os_driver_nodelet.cpp b/src/os_driver_nodelet.cpp
@@ -89,9 +89,11 @@ class OusterDriver : public OusterSensor {
 
             // warn about profile incompatibility
             if (PointCloudProcessorFactory::point_type_requires_intensity(point_type) &&
-                info.format.udp_profile_lidar == UDPProfileLidar::PROFILE_RNG15_RFL8_NIR8) {
+                !PointCloudProcessorFactory::profile_has_intensity(info.format.udp_profile_lidar)) {
                 NODELET_WARN_STREAM(
-                    "selected point type '" << point_type << "' is not compatible with the current udp profile: RNG15_RFL8_NIR8");
+                    "selected point type '" << point_type
+                    << "' is not compatible with the udp profile: "
+                    << to_string(info.format.udp_profile_lidar));
             }
         }