Bugfix 2.3 ROS support

* Fix ROS node consumption of new 2.3 profiles
* Add glad to license

LICENSE-bin

@@ -204,3 +204,26 @@ License: Zlib License
 
     3. This notice may not be removed or altered from any source
        distribution.
+
+Name: glad
+Description: statically linked
+Availability: https://github.com/Dav1dde/glad/
+License: MIT
+    Copyright (c) 2013-2021 David Herberth
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy of
+    this software and associated documentation files (the "Software"), to deal in
+    the Software without restriction, including without limitation the rights to
+    use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+    the Software, and to permit persons to whom the Software is furnished to do so,
+    subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in all
+    copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+    FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+    COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+    IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+    CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

ouster_ros/ouster.launch

@@ -11,7 +11,7 @@
   <arg name="viz" default="false" doc="whether to run a rviz"/>
   <arg name="rviz_config" default="-d $(find ouster_ros)/viz.rviz" doc="optional rviz config file"/>
   <arg name="tf_prefix" default="" doc="namespace for tf transforms"/>
-  <arg name="udp_profile_lidar" default="" doc="lidar packet profile: LEGACY, RNG19_RFL8_SIG16_NIR16_DUAL"/>
+  <arg name="udp_profile_lidar" default="" doc="lidar packet profile: LEGACY, RNG19_RFL8_SIG16_NIR16_DUAL, RNG19_RFL8_SIG16_NIR16, RNG15_RFL8_NIR8"/>
 
   <node pkg="ouster_ros" name="os_node" type="os_node" output="screen" required="true">
     <param name="~/lidar_mode" type="string" value="$(arg lidar_mode)"/>

ouster_ros/src/ros.cpp

@@ -92,31 +92,36 @@ sensor::ChanField suitable_return(sensor::ChanField input_field, bool second) {
     }
 }
 
+template <typename T>
+inline ouster::img_t<T> get_or_fill_zero(sensor::ChanField f,
+                                         const ouster::LidarScan& ls) {
+    ouster::img_t<T> result{ls.h, ls.w};
+    if (ls.field_type(f)) {
+        ouster::impl::visit_field(ls, f, read_and_cast(), result);
+    } else {
+        result = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic,
+                               Eigen::RowMajor>::Zero(ls.h, ls.w);
+    }
+    return result;
+}
+
 void scan_to_cloud(const ouster::XYZLut& xyz_lut,
                    ouster::LidarScan::ts_t scan_ts, const ouster::LidarScan& ls,
                    ouster_ros::Cloud& cloud, int return_index) {
     bool second = (return_index == 1);
     cloud.resize(ls.w * ls.h);
 
-    ouster::img_t<uint16_t> near_ir;
-    ouster::impl::visit_field(
-        ls, suitable_return(sensor::ChanField::NEAR_IR, second),
-        read_and_cast(), near_ir);
-
-    ouster::img_t<uint32_t> range;
-    ouster::impl::visit_field(ls,
-                              suitable_return(sensor::ChanField::RANGE, second),
-                              read_and_cast(), range);
-
-    ouster::img_t<uint32_t> signal;
-    ouster::impl::visit_field(
-        ls, suitable_return(sensor::ChanField::SIGNAL, second), read_and_cast(),
-        signal);
-
-    ouster::img_t<uint16_t> reflectivity;
-    ouster::impl::visit_field(
-        ls, suitable_return(sensor::ChanField::REFLECTIVITY, second),
-        read_and_cast(), reflectivity);
+    ouster::img_t<uint16_t> near_ir = get_or_fill_zero<uint16_t>(
+        suitable_return(sensor::ChanField::NEAR_IR, second), ls);
+
+    ouster::img_t<uint32_t> range = get_or_fill_zero<uint32_t>(
+        suitable_return(sensor::ChanField::RANGE, second), ls);
+
+    ouster::img_t<uint32_t> signal = get_or_fill_zero<uint32_t>(
+        suitable_return(sensor::ChanField::SIGNAL, second), ls);
+
+    ouster::img_t<uint16_t> reflectivity = get_or_fill_zero<uint16_t>(
+        suitable_return(sensor::ChanField::REFLECTIVITY, second), ls);
 
     auto points = ouster::cartesian(range, xyz_lut);