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Fw2.4 #11

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6d5e5e2
changes to work with the latest fw2.4 realse
Aug 25, 2022
8a04eaa
remove unused includes
Oct 7, 2022
31531ae
ouster-ros changed filenamse so fix includes
Nov 26, 2022
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4 changes: 2 additions & 2 deletions launch/decoder.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@

<!-- input topics -->
<remap from="~metadata" to="$(arg driver_ns)/metadata"/>
<remap from="~os_config" to="$(arg driver_ns)/os_config"/>
<remap from="~get_metadata" to="$(arg driver_ns)/get_metadata"/>
<remap from="~imu_packets" to="$(arg driver_ns)/imu_packets"/>
<remap from="~lidar_packets" to="$(arg driver_ns)/lidar_packets"/>

Expand All @@ -76,4 +76,4 @@
<remap from="~range" to="range"/>
<remap from="~signal" to="signal"/>
</node>
</launch>
</launch>
15 changes: 1 addition & 14 deletions launch/driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -21,17 +21,4 @@
<param name="~/imu_port" value="$(arg imu_port)"/>
<param name="~/metadata" value="$(arg metadata)"/>
</node>

<!-- Get rid of this later -->
<node pkg="ouster_ros" type="os_cloud_node" name="os_cloud_node" output="screen" required="true">
<remap from="~/os_config" to="/os_node/os_config"/>
<remap from="~/lidar_packets" to="/os_node/lidar_packets"/>
<remap from="~/imu_packets" to="/os_node/imu_packets"/>
<param name="~/tf_prefix" value="$(arg tf_prefix)"/>
</node>

<!-- <node pkg="ouster_ros" name="img_node" type="img_node" output="screen" required="true">
<remap from="~/os_config" to="/os_node/os_config"/>
<remap from="~/points" to="/os_cloud_node/points"/>
</node> -->
</launch>
</launch>
10 changes: 5 additions & 5 deletions src/decoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
#include <tf2_ros/static_transform_broadcaster.h>

#include "lidar.h"
#include "ouster_ros/OSConfigSrv.h"
#include "ouster_ros/GetMetadata.h"
#include "ouster_ros/PacketMsg.h"

namespace ouster_decoder {
Expand Down Expand Up @@ -138,7 +138,7 @@ void Decoder::InitParams() {
void Decoder::InitOuster() {
ROS_INFO_STREAM("=== Initializing Ouster Decoder ===");
// wait for service
auto client = pnh_.serviceClient<ouster_ros::OSConfigSrv>("os_config");
auto client = pnh_.serviceClient<ouster_ros::GetMetadata>("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
Expand All @@ -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 {
Expand Down
22 changes: 10 additions & 12 deletions src/driver.cpp
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Expand Up @@ -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 <ros/ros.h>
Expand All @@ -23,14 +23,12 @@
#include <sstream>
#include <string>

// #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
Expand Down Expand Up @@ -130,9 +128,9 @@ void advertise_service(ros::NodeHandle& nh,
srv.getService().c_str());
srv.shutdown();
}
srv = nh.advertiseService<OSConfigSrv::Request, OSConfigSrv::Response>(
"os_config",
[metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
srv = nh.advertiseService<OsGetMetadata::Request, OsGetMetadata::Response>(
"get_metadata",
[metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
if (metadata.empty()) return false;
res.metadata = metadata;
return true;
Expand Down Expand Up @@ -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<OSConfigSrv::Request, OSConfigSrv::Response>(
"os_config",
[metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
srv = nh.advertiseService<OsGetMetadata::Request, OsGetMetadata::Response>(
"get_metadata",
[metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
if (metadata.empty()) return false;
res.metadata = metadata;
return true;
Expand Down
2 changes: 1 addition & 1 deletion src/lidar.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

#include "ouster_ros/ros.h"
#include "ouster_ros/os_ros.h"

namespace ouster_decoder {

Expand Down