From 3d82e799820b67ae3e2c1421bdd57634009589bd Mon Sep 17 00:00:00 2001
From: Ussama Naal <606033+Samahu@users.noreply.github.com>
Date: Wed, 15 Nov 2023 12:39:15 -0800
Subject: [PATCH] SW-5466: Support Velodyne point type in the ROS driver
 amendments (#254)

* Add support to control point_type through launch.xml files +
* Add a note to CHANGELOG about the breaking change for ptp/utc time offset
---
 CHANGELOG.rst                                   |  2 ++
 ouster-ros/launch/record.composite.launch.xml   | 10 ++++++++++
 ouster-ros/launch/replay.composite.launch.xml   | 10 ++++++++++
 ouster-ros/launch/sensor.composite.launch.xml   | 10 ++++++++++
 ouster-ros/launch/sensor.independent.launch.xml | 10 ++++++++++
 ouster-ros/launch/sensor_mtp.launch.xml         | 10 ++++++++++
 ouster-ros/package.xml                          |  2 +-
 ouster-sensor-msgs/package.xml                  |  2 +-
 8 files changed, 54 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0fa74acf..840ebf04 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -8,6 +8,8 @@ Changelog
 * introduced a new launch file parameter ``ptp_utc_tai_offset`` which represent offset in seconds
   to be applied to all ROS messages the driver generates when ``TIME_FROM_PTP_1588`` timestamp mode
   is used.
+  * [BREAKING]: the default value of ``ptp_utc_tai_offset`` is set to ``-37.0``. To retain the same
+    time offset for an existing system, users need to set ``ptp_utc_tai_offset`` to ``0.0``.
 * fix: destagger columns timestamp when generating destaggered point clouds.
 * shutdown the driver when unable to connect to the sensor on startup
 * breaking: rename ouster_msgs to ouster_sensor_msgs
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index 51196283..39ebac82 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -67,6 +67,15 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" default="original" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
@@ -93,6 +102,7 @@
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
         <param name="proc_mask" value="$(var proc_mask)"/>
         <param name="scan_ring" value="$(var scan_ring)"/>
+        <param name="point_type" value="$(var point_type)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
index 649ba6b6..e0e4e20b 100644
--- a/ouster-ros/launch/replay.composite.launch.xml
+++ b/ouster-ros/launch/replay.composite.launch.xml
@@ -47,6 +47,15 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" default="original" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node if="$(var _use_metadata_file)" pkg="ouster_ros" exec="os_replay" name="os_replay" output="screen">
@@ -64,6 +73,7 @@
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
         <param name="proc_mask" value="$(var proc_mask)"/>
         <param name="scan_ring" value="$(var scan_ring)"/>
+        <param name="point_type" value="$(var point_type)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index a96642f7..758e6479 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -63,6 +63,15 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" default="original" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -84,6 +93,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
   </group>
 
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index 6c1bf364..5222ce8c 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -65,6 +65,15 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" default="original" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_sensor" name="os_sensor" output="screen">
@@ -90,6 +99,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
     <node pkg="ouster_ros" exec="os_image" name="os_image" output="screen">
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index a7da2b7a..a89fc875 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -71,6 +71,15 @@
     use this parameter in conjunction with the SCAN flag
     and choose a value the range [0, sensor_beams_count)"/>
 
+  <arg name="point_type" default="original" description="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -92,6 +101,7 @@
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
+      <param name="point_type" value="$(var point_type)"/>
     </node>
   </group>
 
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index 033faa2d..b6796fbd 100644
--- a/ouster-ros/package.xml
+++ b/ouster-ros/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.11.1</version>
+  <version>0.11.2</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>
diff --git a/ouster-sensor-msgs/package.xml b/ouster-sensor-msgs/package.xml
index 5c46bfd2..22e829d1 100644
--- a/ouster-sensor-msgs/package.xml
+++ b/ouster-sensor-msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_sensor_msgs</name>
-  <version>0.11.1</version>
+  <version>0.11.2</version>
   <description>ouster_ros message and service definitions</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license>BSD</license>