diff --git a/launch/decoder.launch b/launch/decoder.launch
index 5d24514..e512f3e 100644
--- a/launch/decoder.launch
+++ b/launch/decoder.launch
@@ -64,7 +64,7 @@
-
+
@@ -76,4 +76,4 @@
-
\ No newline at end of file
+
diff --git a/launch/driver.launch b/launch/driver.launch
index aa45678..432fc63 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -21,17 +21,4 @@
-
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
+
diff --git a/src/decoder.cpp b/src/decoder.cpp
index 0b39c6a..fb23a56 100644
--- a/src/decoder.cpp
+++ b/src/decoder.cpp
@@ -4,7 +4,7 @@
#include
#include "lidar.h"
-#include "ouster_ros/OSConfigSrv.h"
+#include "ouster_ros/GetMetadata.h"
#include "ouster_ros/PacketMsg.h"
namespace ouster_decoder {
@@ -138,7 +138,7 @@ void Decoder::InitParams() {
void Decoder::InitOuster() {
ROS_INFO_STREAM("=== Initializing Ouster Decoder ===");
// wait for service
- auto client = pnh_.serviceClient("os_config");
+ auto client = pnh_.serviceClient("get_metadata");
// NOTE: it is possible that in replay mode, the service was shutdown and
// re-advertised. If the client call is too soon, then we risk getting the old
@@ -151,10 +151,10 @@ void Decoder::InitOuster() {
client.waitForExistence();
- ouster_ros::OSConfigSrv cfg{};
+ ouster_ros::GetMetadata srv{};
// Initialize everything if service call is successful
- if (client.call(cfg)) {
- InitModel(cfg.response.metadata);
+ if (client.call(srv)) {
+ InitModel(srv.response.metadata);
InitScan(model_);
SendTransform(model_);
} else {
diff --git a/src/driver.cpp b/src/driver.cpp
index 43104b2..a85a168 100644
--- a/src/driver.cpp
+++ b/src/driver.cpp
@@ -13,7 +13,7 @@
*/
// This is a modified version of ouster_ros/os_node.cpp
-// It is intended to have the same behavior as os_node.
+// It is intended to have the same behavior as os_node.
// The only difference is that we also advertise the metadata message.
#include
@@ -23,14 +23,12 @@
#include
#include
-// #include "ouster/build.h"
-#include "ouster/types.h"
-#include "ouster_ros/OSConfigSrv.h"
+#include "ouster_ros/GetMetadata.h"
#include "ouster_ros/PacketMsg.h"
-#include "ouster_ros/ros.h"
+#include "ouster_ros/os_ros.h"
using PacketMsg = ouster_ros::PacketMsg;
-using OSConfigSrv = ouster_ros::OSConfigSrv;
+using OsGetMetadata = ouster_ros::GetMetadata;
namespace sensor = ouster::sensor;
// fill in values that could not be parsed from metadata
@@ -130,9 +128,9 @@ void advertise_service(ros::NodeHandle& nh,
srv.getService().c_str());
srv.shutdown();
}
- srv = nh.advertiseService(
- "os_config",
- [metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
+ srv = nh.advertiseService(
+ "get_metadata",
+ [metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
if (metadata.empty()) return false;
res.metadata = metadata;
return true;
@@ -279,9 +277,9 @@ int main(int argc, char** argv) {
pub_meta.publish(meta_msg);
ROS_INFO("Publish metadata to %s", pub_meta.getTopic().c_str());
- srv = nh.advertiseService(
- "os_config",
- [metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
+ srv = nh.advertiseService(
+ "get_metadata",
+ [metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
if (metadata.empty()) return false;
res.metadata = metadata;
return true;
diff --git a/src/lidar.h b/src/lidar.h
index 0c85ad2..6a161ad 100644
--- a/src/lidar.h
+++ b/src/lidar.h
@@ -4,7 +4,7 @@
#include
#include
-#include "ouster_ros/ros.h"
+#include "ouster_ros/os_ros.h"
namespace ouster_decoder {