From 5c00aa97ee8244072ed9bf14870facf57d4aab98 Mon Sep 17 00:00:00 2001
From: dgarbuzov <34632025+dgarbuzov@users.noreply.github.com>
Date: Thu, 10 Dec 2020 16:30:38 -0800
Subject: [PATCH] Minor changes from the last week of feedback (#195)

* Make location of ROS build instructions more prominent in README
* Minor typo and formatting fixes in the README
* Avoid spurious git error messages when building outside a git repo
---
 CHANGELOG.rst                        |  2 +-
 README.rst                           | 23 ++++++++++++-----------
 cmake/VersionGen.cmake               |  1 +
 ouster_client/include/ouster/types.h |  6 +++++-
 ouster_client/src/client.cpp         |  2 ++
 ouster_client/src/types.cpp          |  2 ++
 6 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ef1dd25d..f124d861 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog
 =========
 
-[20201202]
+[20201209]
 ==========
 
 Changed
diff --git a/README.rst b/README.rst
index bc8ff40e..40babfd8 100644
--- a/README.rst
+++ b/README.rst
@@ -11,16 +11,16 @@ Ouster Example Code
 Summary
 =======
 
-Sample code for connecting to and configuring ouster sensors, reading and visualizing data, and
-interfacing with ROS.
+To get started building the client and visualizer libraries, see the `Sample Client and Visualizer`_
+section below. For instructions on ROS, start with the `Example ROS Code`_ section.
+
+This repository contains sample code for connecting to and configuring ouster sensors, reading and
+visualizing data, and interfacing with ROS.
 
 * `ouster_client <ouster_client/>`_ contains an example C++ client for ouster sensors
 * `ouster_viz <ouster_viz/>`_ contains a basic point cloud visualizer
 * `ouster_ros <ouster_ros/>`_ contains example ROS nodes for publishing point cloud messages
 
-To get started building the client and visualizer libraries, see the ``Building`` section below. For
-instructions on ROS, start with the ``ROS`` section.
-
 
 Sample Client and Visualizer
 ============================
@@ -69,10 +69,8 @@ for dependencies. Follow the official documentation to set up your build environ
 * `Vcpkg, at tag "2020.07" installed and integrated with Visual Studio
   <https://docs.microsoft.com/en-us/cpp/build/vcpkg?view=msvc-160#installation>`_
 
-.. note::
-
-   You'll need to run ``git checkout 2020.07`` in the vcpkg directory before bootstrapping to use
-   the correct versions of the dependencies. Building may fail unexpectedly if you skip this step.
+**Note** You'll need to run ``git checkout 2020.07`` in the vcpkg directory before bootstrapping to
+use the correct versions of the dependencies. Building may fail unexpectedly if you skip this step.
 
 Don't forget to integrate vcpkg with Visual Studio after bootstrapping::
 
@@ -128,7 +126,8 @@ Navigate to ``ouster_viz`` under the build directory, which should contain an ex
 where ``<sensor hostname>`` can be the hostname (os-99xxxxxxxxxx) or IP of the sensor and ``<udp
 data destingation>`` is the hostname or IP to which the sensor should send lidar data.
 
-For usage and other options, run ``./simple_viz -h`` Mouse controls:
+The sample visualizer does not currently include a GUI, but can be controlled with the mouse and
+keyboard:
 
 * Click and drag rotates the view
 * Middle click and drag moves the view
@@ -161,6 +160,8 @@ Keyboard controls:
     ``shift``     Camera Translation with mouse drag
     ============= ============================================
 
+For usage and other options, run ``./simple_viz -h``
+
 
 Example ROS Code
 ================
@@ -233,7 +234,7 @@ Recording Data
 To record raw sensor output use `rosbag record`_. After starting the ``roslaunch`` command above, in
 another terminal, run::
 
-    rosbag record /os_node/imu_packets /os_node/lidar_packets`
+    rosbag record /os_node/imu_packets /os_node/lidar_packets
 
 This will save a bag file of recorded data in the current working directory. 
 
diff --git a/cmake/VersionGen.cmake b/cmake/VersionGen.cmake
index e20d9dcd..00442a96 100644
--- a/cmake/VersionGen.cmake
+++ b/cmake/VersionGen.cmake
@@ -9,6 +9,7 @@ if(GIT_FOUND)
     COMMAND ${GIT_EXECUTABLE} describe --always --match none --dirty
     OUTPUT_VARIABLE GIT_OUTPUT
     RESULT_VARIABLE GIT_RESULT
+    ERROR_QUIET
     WORKING_DIRECTORY ${VERSION_GEN_SOURCE_DIR})
 
   if(${GIT_RESULT} EQUAL 0)
diff --git a/ouster_client/include/ouster/types.h b/ouster_client/include/ouster/types.h
index 3ed6b4ab..9e78ddc8 100644
--- a/ouster_client/include/ouster/types.h
+++ b/ouster_client/include/ouster/types.h
@@ -47,6 +47,10 @@ enum timestamp_mode {
     TIME_FROM_PTP_1588
 };
 
+enum configuration_version {
+    FW_2_0 = 3
+};
+
 struct data_format {
     uint32_t pixels_per_column;
     uint32_t columns_per_packet;
@@ -103,7 +107,7 @@ uint32_t n_cols_of_lidar_mode(lidar_mode mode);
 
 /**
  * Get the lidar rotation frequency from lidar mode.
- * 
+ *
  * @param lidar_mode
  * @return lidar rotation frequency in Hz
  */
diff --git a/ouster_client/src/client.cpp b/ouster_client/src/client.cpp
index 8bba2b2e..629c14d0 100644
--- a/ouster_client/src/client.cpp
+++ b/ouster_client/src/client.cpp
@@ -268,6 +268,8 @@ bool collect_metadata(client& cli, SOCKET sock_fd, chrono::seconds timeout) {
     cli.meta["lidar_mode"] = root["lidar_mode"];
     cli.meta["client_version"] = ouster::CLIENT_VERSION;
 
+    cli.meta["json_calibration_version"] = FW_2_0;
+
     return success;
 }
 }  // namespace
diff --git a/ouster_client/src/types.cpp b/ouster_client/src/types.cpp
index c4fd7208..01af17e9 100644
--- a/ouster_client/src/types.cpp
+++ b/ouster_client/src/types.cpp
@@ -345,6 +345,8 @@ std::string to_string(const sensor_info& info) {
         }
     }
 
+    root["json_calibration_version"] = FW_2_0;
+
     Json::StreamWriterBuilder builder;
     builder["enableYAMLCompatibility"] = true;
     builder["precision"] = 6;