Correct buffer allocation

ouster-lidar · Oct 8, 2024 · 2822961 · 2822961
1 parent 1134b70
commit 2822961
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Showing 2 changed files with 4 additions and 9 deletions.
diff --git a/ouster-ros/src/os_pcap_node.cpp b/ouster-ros/src/os_pcap_node.cpp
@@ -75,8 +75,6 @@ class OusterPcap : public OusterSensorNodeBase {
         RCLCPP_DEBUG(get_logger(), "on_activate() is called.");
         LifecycleNode::on_activate(state);
         create_publishers();
-        if (imu_packet_pub) imu_packet_pub->on_activate();
-        if (lidar_packet_pub) lidar_packet_pub->on_activate();
         allocate_buffers();
         start_packet_read_thread();
         return LifecycleNodeInterface::CallbackReturn::SUCCESS;
@@ -278,10 +276,8 @@ class OusterPcap : public OusterSensorNodeBase {
     std::shared_ptr<PcapReader> pcap;
     ouster_sensor_msgs::msg::PacketMsg lidar_packet;
     ouster_sensor_msgs::msg::PacketMsg imu_packet;
-    rclcpp_lifecycle::LifecyclePublisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr
-        lidar_packet_pub;
-    rclcpp_lifecycle::LifecyclePublisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr
-        imu_packet_pub;
+    rclcpp::Publisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr lidar_packet_pub;
+    rclcpp::Publisher<ouster_sensor_msgs::msg::PacketMsg>::SharedPtr imu_packet_pub;
 
     std::atomic<bool> packet_read_active = {false};
     std::unique_ptr<std::thread> packet_read_thread;

diff --git a/ouster-ros/src/os_sensor_node.cpp b/ouster-ros/src/os_sensor_node.cpp
@@ -769,11 +769,10 @@ void OusterSensor::create_publishers() {
 
 void OusterSensor::allocate_buffers() {
     auto& pf = sensor::get_format(info);
-
-    lidar_packet_msg.buf.resize(pf.lidar_packet_size);
     lidar_packet.buf.resize(pf.lidar_packet_size);
+    lidar_packet_msg.buf.resize(pf.lidar_packet_size);
     imu_packet.buf.resize(pf.imu_packet_size);
-    imu_packet.buf.resize(pf.imu_packet_size);
+    imu_packet_msg.buf.resize(pf.imu_packet_size);
 }
 
 bool OusterSensor::init_id_changed(const sensor::packet_format& pf,