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Replace tf_prefix by sensor_frame, lidar_frame and imu_frame parameters #96

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Apr 28, 2023
Merged

Replace tf_prefix by sensor_frame, lidar_frame and imu_frame parameters #96

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1 change: 0 additions & 1 deletion ouster-ros/config/parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,4 @@ ouster/os_sensor:
imu_port: 0
ouster/os_cloud:
ros__parameters:
tf_prefix: ''
timestamp_mode: ''
2 changes: 0 additions & 2 deletions ouster-ros/launch/sensor.composite.launch.xml
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Expand Up @@ -39,7 +39,6 @@
description="whether to run a rviz"/>
<arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
description="optional rviz config file"/>
<arg name="tf_prefix" default="" description="namespace for tf transforms"/>

<group>
<push-ros-namespace namespace="$(var ouster_ns)"/>
Expand All @@ -55,7 +54,6 @@
<param name="metadata" value="$(var metadata)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
<param name="tf_prefix" value="$(var tf_prefix)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
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2 changes: 0 additions & 2 deletions ouster-ros/launch/sensor.independent.launch.xml
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Expand Up @@ -39,7 +39,6 @@
description="whether to run a rviz"/>
<arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
description="optional rviz config file"/>
<arg name="tf_prefix" default="" description="namespace for tf transforms"/>

<group>
<push-ros-namespace namespace="$(var ouster_ns)"/>
Expand All @@ -54,7 +53,6 @@
<param name="metadata" value="$(var metadata)"/>
</node>
<node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
<param name="tf_prefix" value="$(var tf_prefix)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
</node>
<node pkg="ouster_ros" exec="os_image" name="os_image" output="screen"/>
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20 changes: 6 additions & 14 deletions ouster-ros/src/os_cloud_node.cpp
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Expand Up @@ -46,7 +46,6 @@ class OusterCloud : public OusterProcessingNodeBase {
}

void on_init() {
declare_parameters();
parse_parameters();
auto metadata = get_metadata();
info = sensor::parse_metadata(metadata);
Expand All @@ -56,20 +55,13 @@ class OusterCloud : public OusterProcessingNodeBase {
create_subscriptions();
}

void declare_parameters() {
declare_parameter<std::string>("tf_prefix");
declare_parameter<std::string>("timestamp_mode");
}

void parse_parameters() {
auto tf_prefix = get_parameter("tf_prefix").as_string();
if (is_arg_set(tf_prefix) && tf_prefix.back() != '/')
tf_prefix.append("/");
sensor_frame = tf_prefix + "os_sensor";
imu_frame = tf_prefix + "os_imu";
lidar_frame = tf_prefix + "os_lidar";
auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
sensor_frame = declare_parameter("sensor_frame", "os_sensor");
lidar_frame = declare_parameter("lidar_frame", "lidar_frame");
imu_frame = declare_parameter("imu_frame", "os_imu");
std::string timestamp_mode = declare_parameter("timestamp_mode", "");

use_ros_time = timestamp_mode == "TIME_FROM_ROS_TIME";
}

void create_lidarscan_objects() {
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