Port destaggered point cloud changes to foxy (#187)

CHANGELOG.rst

@@ -4,6 +4,11 @@ Changelog
 
 [unreleased]
 ============
+* breaking: publish PCL point clouds destaggered.
+
+
+ouster_ros v0.10.0
+==================
 
 ouster_ros(2)
 -------------

ouster-ros/config/viz-reliable.rviz

@@ -0,0 +1,262 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /TF1/Tree1
+        - /range1
+        - /range1/Topic1
+        - /nearir1/Topic1
+        - /reflec1
+        - /signal1
+      Splitter Ratio: 0.5
+    Tree Height: 1185
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: range
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: true
+      Max Color: 255; 255; 255
+      Max Intensity: 10000
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ouster/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        " os_imu":
+          Value: true
+        " os_lidar":
+          Value: true
+        " os_sensor":
+          Value: true
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        " os_sensor":
+          " os_imu":
+            {}
+          " os_lidar":
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: range
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ouster/range_image
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: nearir
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ouster/nearir_image
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: reflec
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ouster/reflec_image
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: signal
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ouster/signal_image
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: "os_sensor"
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 4.583338260650635
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.9003978371620178
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.277213096618652
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 2272
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f700000599fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000002b3000005990000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000007defc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000007de0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000e7000000239fc0100000002fc0000000000000e700000008d00fffffffa000000010200000004fb0000000c007200650066006c006500630000000000ffffffff0000004a00fffffffb0000000c007300690067006e0061006c0100000000ffffffff0000004a00fffffffb0000000c006e006500610072006900720000000000ffffffff0000004a00fffffffb0000000a00720061006e00670065000000006e000002390000004a00fffffffb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e700000005afc0100000002fb0000000800540069006d0065010000000000000e700000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000c6d0000059900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 3696
+  X: 144
+  Y: 54
+  nearir:
+    collapsed: false
+  range:
+    collapsed: false
+  reflec:
+    collapsed: false
+  signal:
+    collapsed: false

ouster-ros/include/ouster_ros/os_ros.h

@@ -126,6 +126,27 @@ void scan_to_cloud_f(ouster::PointsF& points,
                      const ouster::LidarScan& lidar_scan,
                      ouster_ros::Cloud& cloud, int return_index);
 
+/**
+ * Populate a destaggered PCL point cloud from a LidarScan
+ * @param[out] cloud output pcl pointcloud to populate
+ * @param[in, out] points The points parameters is used to store the results of
+ * the cartesian product before it gets packed into the cloud object.
+ * @param[in] lut_direction the direction of the xyz lut (with single precision)
+ * @param[in] lut_offset the offset of the xyz lut (with single precision)
+ * @param[in] scan_ts scan start used to caluclate relative timestamps for
+ * points
+ * @param[in] lidar_scan input lidar data
+ * @param[in] pixel_shift_by_row pixel shifts by row
+ * @param[in] return_index index of return desired starting at 0
+ */
+void scan_to_cloud_f_destaggered(ouster_ros::Cloud& cloud,
+                     ouster::PointsF& points,
+                     const ouster::PointsF& lut_direction,
+                     const ouster::PointsF& lut_offset, uint64_t scan_ts,
+                     const ouster::LidarScan& ls,
+                     const std::vector<int>& pixel_shift_by_row,
+                     int return_index);
+
 /**
  * Serialize a PCL point cloud to a ROS message
  * @param[in] cloud the PCL point cloud to convert

ouster-ros/launch/record.independent.launch.xml

@@ -39,7 +39,7 @@
     description="file name to use for the recorded bag file"/>
   <arg name="viz" default="true"
     description="whether to run a rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
+  <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz-reliable.rviz"
     description="optional rviz config file"/>
 
   <arg name="sensor_frame" default="os_sensor"

ouster-ros/launch/replay.independent.launch.xml

@@ -16,7 +16,7 @@
     description="file name to use for the recorded bag file"/>
   <arg name="viz" default="true"
     description="whether to run a rviz"/>
-  <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
+  <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz-reliable.rviz"
     description="optional rviz config file"/>
 
   <arg name="sensor_frame" default="os_sensor"

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>0.10.0</version>
+  <version>0.10.1</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

ouster-ros/src/imu_packet_handler.h

@@ -14,6 +14,8 @@
 #include "ouster_ros/os_ros.h"
 // clang-format on
 
+namespace ouster_ros {
+
 class ImuPacketHandler {
    public:
     using HandlerOutput = sensor_msgs::msg::Imu;
@@ -33,8 +35,10 @@ class ImuPacketHandler {
                 return rclcpp::Time(pf.imu_gyro_ts(imu_buf)); }};
         // clang-format on
         return [&pf, &frame, timestamper](const uint8_t* imu_buf) {
-            return ouster_ros::packet_to_imu_msg(pf, timestamper(imu_buf),
+            return packet_to_imu_msg(pf, timestamper(imu_buf),
                                                  frame, imu_buf);
         };
     }
-};
+};
+
+}   // namespace ouster_ros

ouster-ros/src/laser_scan_processor.h

@@ -14,8 +14,8 @@
 #include "ouster_ros/os_ros.h"
 // clang-format on
 
-using ouster_ros::get_n_returns;
-using ouster_ros::lidar_scan_to_laser_scan_msg;
+
+namespace ouster_ros {
 
 class LaserScanProcessor {
    public:
@@ -64,4 +64,6 @@ class LaserScanProcessor {
     uint16_t ring_;
     OutputType scan_msgs;
     PostProcessingFn post_processing_fn;
-};
+};
+
+}   // namespace ouster_ros

ouster-ros/src/lidar_packet_handler.h

@@ -75,6 +75,8 @@ inline bool check_token(const std::set<std::string>& tokens,
 
 }  // namespace
 
+namespace ouster_ros {
+
 namespace sensor = ouster::sensor;
 
 using LidarScanProcessor = std::function<void(const ouster::LidarScan&,
@@ -283,4 +285,6 @@ class LidarPacketHandler {
     std::vector<LidarScanProcessor> lidar_scan_handlers;
 
     LidarPacketAccumlator lidar_packet_accumlator;
-};
+};
+
+}   // namespace ouster_ros