From 3d21926674a377f862d8703f4543035128b0b966 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Tue, 12 Nov 2024 18:51:03 -0800
Subject: [PATCH] Fix record launch

---
 launch/record.launch | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/launch/record.launch b/launch/record.launch
index d898e030..b7b71e6e 100644
--- a/launch/record.launch
+++ b/launch/record.launch
@@ -72,6 +72,16 @@
     xyzir
     }"/>
 
+  <arg name="organized" default="true"
+    doc="generate an organzied point cloud"/>
+  <arg name="destagger" default="true"
+    doc="enable or disable point cloud destaggering"/>
+
+  <arg name="min_range" default="0.0"
+    doc="minimum lidar range to consider (meters)"/>
+  <arg name="max_range" default="10000.0"
+    doc="maximum lidar range to consider (meters)"/>
+
   <arg name="azimuth_window_start" default="0" doc="azimuth window start,
     values range [0, 360000] millidegrees"/>
   <arg name="azimuth_window_end" default="360000" doc="azimuth window end,
@@ -127,7 +137,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
-    <aeg name="pub_static_tf" value="$(arg pub_static_tf)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="dynamic_transforms_broadcast"
@@ -137,6 +147,10 @@
     <arg name="proc_mask" value="$(arg proc_mask)"/>
     <arg name="scan_ring" value="$(arg scan_ring)"/>
     <arg name="point_type" value="$(arg point_type)"/>
+    <arg name="organized" value="$(arg organized)"/>
+    <arg name="destagger" value="$(arg destagger)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
   </include>
 
   <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>