Adding LaserScan frame

ouster-ros/config/driver_params.yaml

@@ -53,9 +53,13 @@ ouster/os_driver:
     # imu_frame[optional]: name to use when referring to the imu frame.
     imu_frame: os_imu
     # point_cloud_frame[optional]: which frame of reference to use when
-    # generating PointCloud2 or LaserScan messages, select between the values of
+    # generating PointCloud2 messages, select between the values of
     # lidar_frame and sensor_frame.
-    point_cloud_frame: os_lidar 
+    point_cloud_frame: os_lidar
+    # laser_scan_frame[optional]: which frame of reference to use when
+    # generating LaserScan messages, select between the values of
+    # lidar_frame and sensor_frame.
+    laser_scan_frame: os_lidar
     # proc_mask[optional]: use any combination of the 4 flags IMG, PCL, IMU and
     # SCAN to enable or disable their respective messages.
     proc_mask: IMG|PCL|IMU|SCAN

ouster-ros/src/os_cloud_node.cpp

@@ -139,7 +139,7 @@ class OusterCloud : public OusterProcessingNodeBase {
             }
 
             processors.push_back(LaserScanProcessor::create(
-                info, tf_bcast.lidar_frame_id(), scan_ring,
+                info, tf_bcast.laser_scan_frame_id(), scan_ring,
                 [this](LaserScanProcessor::OutputType msgs) {
                     for (size_t i = 0; i < msgs.size(); ++i)
                         scan_pubs[i]->publish(*msgs[i]);

ouster-ros/src/os_driver_node.cpp

@@ -108,7 +108,7 @@ class OusterDriver : public OusterSensor {
             }
 
             processors.push_back(LaserScanProcessor::create(
-                info, tf_bcast.lidar_frame_id(), scan_ring,
+                info, tf_bcast.laser_scan_frame_id(), scan_ring,
                 [this](LaserScanProcessor::OutputType msgs) {
                     for (size_t i = 0; i < msgs.size(); ++i)
                         scan_pubs[i]->publish(*msgs[i]);

ouster-ros/src/os_static_transforms_broadcaster.h

@@ -23,6 +23,7 @@ class OusterStaticTransformsBroadcaster {
         node->declare_parameter("lidar_frame", "os_lidar");
         node->declare_parameter("imu_frame", "os_imu");
         node->declare_parameter("point_cloud_frame", "");
+        node->declare_parameter("laser_scan_frame", "");
     }
 
     void parse_parameters() {
@@ -31,8 +32,10 @@ class OusterStaticTransformsBroadcaster {
         imu_frame = node->get_parameter("imu_frame").as_string();
         point_cloud_frame =
             node->get_parameter("point_cloud_frame").as_string();
+        laser_scan_frame =
+            node->get_parameter("laser_scan_frame").as_string();
 
-        // validate point_cloud_frame
+        // validate point_cloud_frame and laser_scan_frame
         if (point_cloud_frame.empty()) {
             point_cloud_frame =
                 lidar_frame;  // for ROS1 we'd still use sensor_frame
@@ -45,6 +48,18 @@ class OusterStaticTransformsBroadcaster {
                         "value for point_cloud_frame");
             point_cloud_frame = lidar_frame;
         }
+        if (laser_scan_frame.empty()) {
+            laser_scan_frame =
+                lidar_frame;  // for ROS1 we'd still use sensor_frame
+        } else if (laser_scan_frame != sensor_frame &&
+                   laser_scan_frame != lidar_frame) {
+            RCLCPP_WARN(node->get_logger(),
+                        "laser_scan_frame value needs to match the value of "
+                        "either sensor_frame or lidar_frame but a different "
+                        "value was supplied, using lidar_frame's value as the "
+                        "value for point_cloud_frame");
+            laser_scan_frame = lidar_frame;
+        }
     }
 
     void broadcast_transforms(const sensor::sensor_info& info) {
@@ -62,6 +77,9 @@ class OusterStaticTransformsBroadcaster {
     const std::string& point_cloud_frame_id() const {
         return point_cloud_frame;
     }
+    const std::string& laser_scan_frame_id() const {
+        return laser_scan_frame;
+    }
     bool apply_lidar_to_sensor_transform() const {
         return point_cloud_frame == sensor_frame;
     }
@@ -73,6 +91,7 @@ class OusterStaticTransformsBroadcaster {
     std::string lidar_frame;
     std::string sensor_frame;
     std::string point_cloud_frame;
+    std::string laser_scan_frame;
 };
 
 }  // namespace ouster_ros