ROS-227: Set LIDAR FOV on startup and add an option to persist the co…

…nfig [NOETIC] (#356)

* Set LIDAR FOV on startup
* Add persist flags option to launch files.
* Add a breaking note about azimuth window config reset

CHANGELOG.rst

@@ -17,6 +17,11 @@ Changelog
 * [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
 * Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
   explicitly by turning on the ``BUILD_PCAP`` cmake option and having ``libpcap-dev`` installed.
+* [BREAKING] Added new launch files args ``azimuth_window_start`` and ``azimuth_window_end`` to
+  allow users to set LIDAR FOV on startup. The new options will reset the current azimuth window
+  to the default
+* Added a new launch ``persist_config`` option to request the sensor persist the current config
+* Added a new ``loop`` option to the ``replay.launch`` file.
 
 
 ouster_ros v0.10.0

launch/driver.launch

@@ -65,6 +65,14 @@
     xyzir
     }"/>
 
+  <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;
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -92,6 +100,9 @@
       <param name="~/proc_mask" value="$(arg proc_mask)"/>
       <param name="~/scan_ring" value="$(arg scan_ring)"/>
       <param name="~/point_type" value="$(arg point_type)"/>
+      <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(arg persist_config)"/>
     </node>
   </group>
 

launch/record.launch

@@ -68,6 +68,14 @@
     xyzir
     }"/>
 
+  <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,
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -86,6 +94,9 @@
       <param name="~/lidar_mode" type="str" value="$(arg lidar_mode)"/>
       <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
       <param name="~/metadata" type="str" value="$(arg metadata)"/>
+      <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(arg persist_config)"/>
     </node>
   </group>
 

launch/replay.launch

@@ -2,6 +2,13 @@
 
   <param name="use_sim_time" value="true"/>
 
+  <arg name="loop" default="false" doc="request loop playback"/>
+  <arg if="$(arg loop)" name="_loop" value="--loop"/>
+  <arg unless="$(arg loop)" name="_loop" value=" "/>
+
+  <remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
+  <remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
+
   <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
   <arg name="metadata" default="" doc="path to read metadata file when replaying sensor data"/>
   <arg name="bag_file" doc="file name to use for the recorded bag file"/>
@@ -93,6 +100,6 @@
   <node if="$(arg _use_bag_file_name)" pkg="rosbag" type="play" name="rosbag_play_recording"
     launch-prefix="bash -c 'sleep 3; $0 $@' "
     output="screen" required="true"
-    args="--clock $(arg bag_file)"/>
+    args="--clock $(arg bag_file) $(arg _loop)"/>
 
 </launch>

launch/sensor.launch

@@ -73,6 +73,14 @@
     xyzir
     }"/>
 
+  <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;
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true" args="manager"/>
@@ -90,6 +98,9 @@
       <param name="~/lidar_mode" type="str" value="$(arg lidar_mode)"/>
       <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
       <param name="~/metadata" type="str" value="$(arg metadata)"/>
+      <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(arg persist_config)"/>
     </node>
   </group>
 

launch/sensor_mtp.launch

@@ -77,6 +77,14 @@
     xyzir
     }"/>
 
+  <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,
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
       output="screen" required="true"
@@ -97,6 +105,9 @@
       <param name="~/lidar_mode" type="str" value="$(arg lidar_mode)"/>
       <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
       <param name="~/metadata" type="str" value="$(arg metadata)"/>
+      <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(arg persist_config)"/>
     </node>
   </group>
 

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.12.4</version>
+  <version>0.12.5</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

src/os_sensor_nodelet.cpp

@@ -25,6 +25,7 @@ using nonstd::optional;
 
 using namespace std::chrono_literals;
 using namespace std::string_literals;
+using std::to_string;
 
 namespace ouster_ros {
 
@@ -232,6 +233,9 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
     auto lidar_mode_arg = nh.param("lidar_mode", std::string{});
     auto timestamp_mode_arg = nh.param("timestamp_mode", std::string{});
     auto udp_profile_lidar_arg = nh.param("udp_profile_lidar", std::string{});
+    const int MIN_AZW = 0, MAX_AZW = 360000;
+    auto azimuth_window_start = nh.param("azimuth_window_start", MIN_AZW);
+    auto azimuth_window_end = nh.param("azimuth_window_end", MAX_AZW);
 
     if (lidar_port < 0 || lidar_port > 65535) {
         auto error_msg =
@@ -313,6 +317,14 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
         config.udp_port_imu = imu_port;
     }
 
+    persist_config = nh.param("persist_config", false);
+    if (persist_config && (lidar_port == 0 || imu_port == 0)) {
+        NODELET_WARN("When using persist_config it is recommended to not "
+        "use 0 for port values as this currently will trigger sensor reinit "
+        "event each time");
+    }
+
+
     config.udp_profile_lidar = udp_profile_lidar;
     config.operating_mode = sensor::OPERATING_NORMAL;
     if (lidar_mode) config.ld_mode = lidar_mode;
@@ -325,6 +337,16 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
         }
     }
 
+    if (azimuth_window_start < MIN_AZW || azimuth_window_start > MAX_AZW ||
+        azimuth_window_end < MIN_AZW || azimuth_window_end > MAX_AZW) {
+        auto error_msg = "azimuth window values must be between " +
+                    to_string(MIN_AZW) + " and " + to_string(MAX_AZW);
+        NODELET_ERROR_STREAM(error_msg);
+        throw std::runtime_error(error_msg);
+    }
+
+    config.azimuth_window = {azimuth_window_start, azimuth_window_end};
+
     return config;
 }
 
@@ -362,6 +384,11 @@ uint8_t OusterSensor::compose_config_flags(
         config_flags |= ouster::sensor::CONFIG_FORCE_REINIT;
     }
 
+    if (persist_config) {
+        NODELET_INFO("Configuration will be persisted");
+        config_flags |= ouster::sensor::CONFIG_PERSIST;
+    }
+
     return config_flags;
 }
 
@@ -450,9 +477,8 @@ void OusterSensor::allocate_buffers() {
 bool OusterSensor::init_id_changed(const sensor::packet_format& pf,
                                    const uint8_t* lidar_buf) {
     uint32_t current_init_id = pf.init_id(lidar_buf);
-    if (!last_init_id_initialized) {
+    if (!last_init_id) {
         last_init_id = current_init_id + 1;
-        last_init_id_initialized = true;
     }
     if (reset_last_init_id && last_init_id != current_init_id) {
         last_init_id = current_init_id;

src/os_sensor_nodelet.h

@@ -138,11 +138,11 @@ class OusterSensor : public OusterSensorNodeletBase {
     std::atomic<bool> lidar_packets_processing_thread_active = {false};
     std::unique_ptr<std::thread> lidar_packets_processing_thread;
 
+    bool persist_config = false;
     bool force_sensor_reinit = false;
     bool reset_last_init_id = true;
 
-    bool last_init_id_initialized = false;
-    uint32_t last_init_id;
+    nonstd::optional<uint32_t> last_init_id;
 
     // TODO: add as a ros parameter
     const int max_poll_client_error_count = 10;