SW-5657: Back port SW-5466 to ROS-1

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog
 =========
 
+[unreleased]
+============
+* [BREAKING] ROS1 driver code now requires C++17 (required for point cloud customization feature).
+* added the ability to customize the published point clouds(s) to velodyne point cloud format and
+  other common pcl point types.
+* ouster_image_nodelet can operate independently from ouster_cloud_nodelet.
+
+
 ouster_ros v0.10.0
 ==================
 
@@ -12,7 +20,9 @@ ouster_ros(1)
 * [BREAKING]: publish PCL point clouds destaggered.
 * introduced a new launch file parameter ``ptp_utc_tai_offset`` which represent offset in seconds
   to be applied to all ROS messages the driver generates when ``TIME_FROM_PTP_1588`` timestamp mode
-  is used. 
+  is used.
+  * [BREAKING]: the default value of ``ptp_utc_tai_offset`` is set to ``-37.0``. To retain the same
+    time offset for an existing system, users need to set ``ptp_utc_tai_offset`` to ``0.0``.
 * [BUGFIX]: destagger columns timestamp when generating destaggered point clouds.
 * [BUGFIX]: gracefully stop the driver when shutdown is requested.
 
@@ -49,7 +59,6 @@ ouster_client
 * [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10
 
 
-
 ouster_ros v0.9.0
 ==================
 

CMakeLists.txt

@@ -26,6 +26,7 @@ find_package(
              nodelet)
 
 # ==== Options ====
+add_compile_options(-std=c++17)
 add_compile_options(-Wall -Wextra)
 option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
 
@@ -89,8 +90,15 @@ add_dependencies(${PROJECT_NAME}_nodelets ${PROJECT_NAME}_gencpp)
 
 # ==== Test ====
 if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(${PROJECT_NAME}_test tests/ring_buffer_test.cpp)
-  target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES})
+  catkin_add_gtest(${PROJECT_NAME}_test
+    tests/ring_buffer_test.cpp
+    src/os_ros.cpp
+    tests/point_accessor_test.cpp
+    tests/point_transform_test.cpp
+    tests/point_cloud_compose_test.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES}
+    ouster_build pcl_common -Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
 endif()
 
 # ==== Install ====

README.md

@@ -12,21 +12,22 @@
 | ROS2 (rolling/humble/iron) | [![rolling/humble/iron](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 | ROS2 (galactic/foxy) | [![galactic/foxy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2-foxy)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 
-- [Overview](#overview)
-- [Requirements](#requirements)
-- [Getting Started](#getting-started)
-- [Usage](#usage)
-  - [Launching Nodes](#launching-nodes)
-    - [Sensor Mode](#sensor-mode)
-    - [Recording Mode](#recording-mode)
-    - [Replay Mode](#replay-mode)
-    - [Multicast Mode (experimental)](#multicast-mode-experimental)
-  - [Launch Files Arguments](#launch-files-arguments)
-  - [Invoking Services](#invoking-services)
-    - [GetMetadata](#getmetadata)
-    - [GetConfig](#getconfig)
-    - [SetConfig (experimental)](#setconfig-experimental)
-- [License](#license)
+- [Official ROS1/ROS2 drivers for Ouster sensors](#official-ros1ros2-drivers-for-ouster-sensors)
+  - [Overview](#overview)
+  - [Requirements](#requirements)
+  - [Getting Started](#getting-started)
+  - [Usage](#usage)
+    - [Launching Nodes](#launching-nodes)
+      - [Sensor Mode](#sensor-mode)
+      - [Recording Mode](#recording-mode)
+      - [Replay Mode](#replay-mode)
+      - [Multicast Mode (experimental)](#multicast-mode-experimental)
+    - [Launch Files Arguments](#launch-files-arguments)
+    - [Invoking Services](#invoking-services)
+      - [GetMetadata](#getmetadata)
+      - [GetConfig](#getconfig)
+      - [SetConfig (experimental)](#setconfig-experimental)
+  - [License](#license)
 
 
 ## Overview
@@ -175,6 +176,22 @@ roslaunch ouster_ros driver.launch --ros-args
 The command should list all available arguments, whether they are optional or required and the
 description and posible values of each argument.
 
+New launch file parameter:
+**point_type**: This parameter allows to customize the point cloud that the
+  driver produces through its `/ouster/points` topics. Choose one of the following
+  values:
+  - `original`: This uses the original point representation `ouster_ros::Point`
+           of the ouster-ros driver.
+  - `native`: directly maps all fields as published by the sensor to an
+           equivalent point cloud representation with the additon of ring
+           and timestamp fields.
+  - `xyz`: the simplest point type, only has {x, y, z}
+  - `xyzi`: same as xyz point type but adds intensity (signal) field. this
+           type is not compatible with the low data profile.
+  - `xyzir`: same as xyzi type but adds ring (channel) field.
+          this type is same as Velodyne point cloud type
+          this type is not compatible with the low data profile.
+
 ### Invoking Services
 To execute any of the following service, first you need to open a new terminal
 and source the castkin workspace again by running the command:

include/ouster_ros/common_point_types.h

@@ -0,0 +1,72 @@
+/**
+ * Copyright (c) 2018-2023, Ouster, Inc.
+ * All rights reserved.
+ *
+ * @file common_point_types.h
+ * @brief common PCL point datatype for use with ouster sensors
+ */
+
+#pragma once
+
+#include <pcl/point_types.h>
+
+namespace ouster_ros {
+
+/* The following are pcl point representations that are common/standard point
+   representation that we readily support.
+ */
+
+/*
+ * Same as Velodyne point cloud type
+ * @remark XYZIR point type is not compatible with RNG15_RFL8_NIR8/LOW_DATA
+ * udp lidar profile.
+ */
+struct EIGEN_ALIGN16 _PointXYZIR {
+    PCL_ADD_POINT4D;
+    float intensity;
+    uint16_t ring;
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct PointXYZIR : public _PointXYZIR {
+
+    inline PointXYZIR(const _PointXYZIR& pt)
+    {
+      x = pt.x; y = pt.y; z = pt.z; data[3] = 1.0f;
+      intensity = pt.intensity; ring = pt.ring;
+    }
+
+    inline PointXYZIR()
+    {
+      x = y = z = 0.0f; data[3] = 1.0f;
+      intensity = 0.0f; ring = 0;
+    }
+
+    inline const auto as_tuple() const {
+        return std::tie(x, y, z, intensity, ring);
+    }
+
+    inline auto as_tuple() {
+        return std::tie(x, y, z, intensity, ring);
+    }
+
+    template<size_t I>
+    inline auto& get() {
+        return std::get<I>(as_tuple());
+    }
+};
+
+}   // namespace ouster_ros
+
+// clang-format off
+
+/* common point types */
+POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::PointXYZIR,
+    (float, x, x)
+    (float, y, y)
+    (float, z, z)
+    (float, intensity, intensity)
+    (std::uint16_t, ring, ring)
+)
+
+// clang-format on

include/ouster_ros/os_point.h

@@ -10,36 +10,79 @@
 
 #include <pcl/point_types.h>
 
-#include <Eigen/Core>
-#include <chrono>
-
-#include <ouster/lidar_scan.h>
-
 namespace ouster_ros {
 
-struct EIGEN_ALIGN16 Point {
+// The default/original represntation of the point cloud since the driver
+// inception. This shouldn't be confused with Point_LEGACY which provides exact
+// mapping of the fields of Ouster LidarScan of the Legacy Profile, copying the 
+// the same order and using the same bit representation. For example, this Point
+// struct uses float data type to represent intensity (aka signal); however, the
+// sensor sends the signal channel either as UINT16 or UINT32 depending on the
+// active udp lidar profile.
+struct EIGEN_ALIGN16 _Point {
     PCL_ADD_POINT4D;
-    float intensity;
+    float intensity;        // equivalent to signal
     uint32_t t;
     uint16_t reflectivity;
-    uint16_t ring;
-    uint16_t ambient;
+    uint16_t ring;          // equivalent to channel
+    uint16_t ambient;       // equivalent to near_ir
     uint32_t range;
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}  // namespace ouster_ros
+
+struct Point : public _Point {
+
+    inline Point(const _Point& pt)
+    {
+      x = pt.x; y = pt.y; z = pt.z; data[3] = 1.0f;
+      intensity = pt.intensity;
+      t = pt.t;
+      reflectivity = pt.reflectivity; 
+      ring = pt.ring;
+      ambient = pt.ambient;
+      range = pt.range;
+    }
+
+    inline Point()
+    {
+      x = y = z = 0.0f; data[3] = 1.0f;
+      intensity = 0.0f;
+      t = 0;
+      reflectivity = 0;
+      ring = 0;
+      ambient = 0;
+      range = 0;
+    }
+
+    inline const auto as_tuple() const {
+        return std::tie(x, y, z, intensity, t, reflectivity, ring, ambient, range);
+    }
+
+    inline auto as_tuple() {
+        return std::tie(x, y, z, intensity, t, reflectivity, ring, ambient, range);
+    }
+
+    template<size_t I>
+    inline auto& get() {
+        return std::get<I>(as_tuple());
+    }
+};
+
+}   // namespace ouster_ros
 
 // clang-format off
+
+// DEFAULT/ORIGINAL
 POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::Point,
     (float, x, x)
     (float, y, y)
     (float, z, z)
     (float, intensity, intensity)
-    // use std::uint32_t to avoid conflicting with pcl::uint32_t
     (std::uint32_t, t, t)
     (std::uint16_t, reflectivity, reflectivity)
     (std::uint16_t, ring, ring)
     (std::uint16_t, ambient, ambient)
     (std::uint32_t, range, range)
 )
+
 // clang-format on