Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

SW-5466: Support velodyne point type in the ros driver (foxy) #255

Merged

Conversation

Samahu
Copy link
Contributor

@Samahu Samahu commented Nov 15, 2023

Related Issues & PRs

Summary of Changes

  • added the ability to customize the published point clouds(s) to velodyne point cloud format and
    other common pcl point types.
  • made ouster_image_component operate separately from ouster_cloud_component

Validation

  • Run the driver with default parameters and verify no observable behavioral changes.
  • Change point_type parameter to native and verify that it reflects the same point cloud format that we get from the sensor.
  • Change point_type parameter to xyz and verify that the published point cloud format only has xyz fields, regardless of the underlying sensor format.
  • Change point_type parameter to xyzi and verify that the published point cloud format only has xyz fields plus intensity, regardless of the underlying sensor format (you should get a warning when the low data mode is selected for this mode).
  • Change point_type parameter to xyzir and verify that the published point cloud format only has xyz fields plus intensity plus ring, regardless of the underlying sensor format (you should get a warning when the low data mode is selected for this mode).

@Samahu Samahu added the enhancement New feature or request label Nov 15, 2023
@Samahu Samahu self-assigned this Nov 15, 2023
@Samahu Samahu changed the title SW-5466: Support velodyne point type in the ros driver foxy SW-5466: Support velodyne point type in the ros driver (foxy) Nov 15, 2023
@Samahu Samahu merged commit df7918a into ros2-foxy Nov 15, 2023
2 checks passed
@Samahu Samahu deleted the SW-5466-support-velodyne-point-type-in-the-ros-driver-foxy branch November 15, 2023 20:44
tobii-ho pushed a commit to StarkStrom-Driverless/ouster-ros that referenced this pull request Dec 27, 2023
* Add support for automatic UDP destination in simple_viz and ROS (ouster-lidar#255)
* Add a read timeout for TCP sockets (ouster-lidar#258)
* Fall back to ipv4 when ipv6 is disabled via kernel parameters (ouster-lidar#261)
* Fix open3d example crash on macos (ouster-lidar#267)
tobii-ho pushed a commit to StarkStrom-Driverless/ouster-ros that referenced this pull request Jan 23, 2024
* Add support for automatic UDP destination in simple_viz and ROS (ouster-lidar#255)
* Add a read timeout for TCP sockets (ouster-lidar#258)
* Fall back to ipv4 when ipv6 is disabled via kernel parameters (ouster-lidar#261)
* Fix open3d example crash on macos (ouster-lidar#267)
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
enhancement New feature or request
Projects
None yet
Development

Successfully merging this pull request may close these issues.

1 participant