diff --git a/ouster-ros/config/driver_params.yaml b/ouster-ros/config/driver_params.yaml
index 040c9e72..13edc256 100644
--- a/ouster-ros/config/driver_params.yaml
+++ b/ouster-ros/config/driver_params.yaml
@@ -60,7 +60,7 @@ ouster/os_driver:
# to select which beam of the LidarScan to use when producing the LaserScan
# message. Choose a value the range [0, sensor_beams_count).
scan_ring: 0
- # use_system_default_qos[optional]: if False, data are published with sensor
+ # use_system_default_qos[optional]: if false, data are published with sensor
# data QoS. This is preferrable for production but default QoS is needed for
# rosbag. See: https://github.com/ros2/rosbag2/issues/125
- use_system_default_qos: False
+ use_system_default_qos: false
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index dbedb9eb..d1716c6e 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -42,16 +42,28 @@
-
-
-
+
+
+
+
-
+
+
+
+ and choose a value the range [0, sensor_beams_count)"/>
@@ -73,8 +85,10 @@
+
+
@@ -93,9 +107,6 @@
-
-
-
diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
index d9c685e1..73755ebc 100644
--- a/ouster-ros/launch/replay.composite.launch.xml
+++ b/ouster-ros/launch/replay.composite.launch.xml
@@ -19,19 +19,31 @@
-
-
-
+
+
+
+
-
+
+
+
+
-
+ and choose a value the range [0, sensor_beams_count)"/>
@@ -44,8 +56,10 @@
+
+
@@ -66,9 +80,6 @@
-
-
-
diff --git a/ouster-ros/launch/rviz.launch.xml b/ouster-ros/launch/rviz.launch.xml
index 54b490b7..0c9beb17 100644
--- a/ouster-ros/launch/rviz.launch.xml
+++ b/ouster-ros/launch/rviz.launch.xml
@@ -5,10 +5,6 @@
-
-
-
-
-
-
-
+
+
+
+
-
+
+
+ use any combination of the 4 flags to enable or disable specific processors"/>
+ and choose a value the range [0, sensor_beams_count)"/>
@@ -65,11 +72,11 @@
-
+
@@ -79,17 +86,14 @@
-
-
-
-
-
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index bcb8683d..4859da5f 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -40,20 +40,28 @@
-
-
-
+
+
+
+
+
+
-
+ and choose a value the range [0, sensor_beams_count)"/>
@@ -69,12 +77,12 @@
-
+
@@ -95,9 +103,6 @@
-
-
-
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index 0096a6cd..d8539e50 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -48,12 +48,20 @@
-
-
-
+
+
+
+
+
@@ -72,11 +80,11 @@
-
+
@@ -86,9 +94,9 @@
-
-
diff --git a/ouster-ros/src/os_static_transforms_broadcaster.h b/ouster-ros/src/os_static_transforms_broadcaster.h
index 1b368b1e..c600c1f6 100644
--- a/ouster-ros/src/os_static_transforms_broadcaster.h
+++ b/ouster-ros/src/os_static_transforms_broadcaster.h
@@ -22,7 +22,7 @@ class OusterStaticTransformsBroadcaster {
node->declare_parameter("sensor_frame", "os_sensor");
node->declare_parameter("lidar_frame", "os_lidar");
node->declare_parameter("imu_frame", "os_imu");
- node->declare_parameter("point_cloud_frame", "os_lidar");
+ node->declare_parameter("point_cloud_frame", "");
}
void parse_parameters() {