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ROS[NOETIC] Add a pcap source reader nodelet (#344)
* Add a pcap source reader node * Implement packet pacing based on packet timestamps * Turn off pcap by default and update change log and readme * Report progress
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| <launch> | ||
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| <!-- NOTE: pcap replay node does not implement clock--> | ||
| <param name="use_sim_time" value="false"/> | ||
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| <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/> | ||
| <arg name="metadata" doc="path to read metadata file when replaying sensor data"/> | ||
| <arg name="pcap_file" doc="file name to use for the recorded pcap file"/> | ||
| <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" doc="A parameter that allows you to override the timestamp measurements; | ||
| possible values: { | ||
| TIME_FROM_INTERNAL_OSC, | ||
| TIME_FROM_SYNC_PULSE_IN, | ||
| TIME_FROM_PTP_1588, | ||
| TIME_FROM_ROS_TIME | ||
| }"/> | ||
| <arg name="ptp_utc_tai_offset" default="-37.0" | ||
| doc="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/> | ||
| <arg name="viz" default="true" doc="whether to run a rviz"/> | ||
| <arg name="rviz_config" default="$(find ouster_ros)/config/viz.rviz" doc="optional rviz config file"/> | ||
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| <arg name="tf_prefix" default=" " doc="namespace for tf transforms"/> | ||
| <arg name="sensor_frame" default="os_sensor" | ||
| doc="sets name of choice for the sensor_frame tf frame, value can not be empty"/> | ||
| <arg name="lidar_frame" default="os_lidar" | ||
| doc="sets name of choice for the os_lidar tf frame, value can not be empty"/> | ||
| <arg name="imu_frame" default="os_imu" | ||
| doc="sets name of choice for the os_imu tf frame, value can not be empty"/> | ||
| <arg name="point_cloud_frame" default=" " | ||
| doc="which frame to be used when publishing PointCloud2 or LaserScan messages. | ||
| Choose between the value of sensor_frame or lidar_frame, leaving this value empty | ||
| would set lidar_frame to be the frame used when publishing these messages."/> | ||
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| <arg name="dynamic_transforms_broadcast" default="false" | ||
| doc="static or dynamic transforms broadcast"/> | ||
| <arg name="dynamic_transforms_broadcast_rate" default="1.0" | ||
| doc="set the rate (Hz) of broadcast when using dynamic broadcast; minimum value is 1 Hz"/> | ||
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| <arg name="proc_mask" default="IMG|PCL|IMU|SCAN" doc=" | ||
| The IMG flag here is not supported and does not affect anything, | ||
| to disable image topics you would need to omit the os_image node | ||
| from the launch file"/> | ||
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| <arg name="scan_ring" default="0" doc=" | ||
| use this parameter in conjunction with the SCAN flag | ||
| and choose a value the range [0, sensor_beams_count)"/> | ||
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| <arg name="point_type" default="original" doc="point type for the generated point cloud; | ||
| available options: { | ||
| original, | ||
| native, | ||
| xyz, | ||
| xyzi, | ||
| xyzir | ||
| }"/> | ||
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| <group ns="$(arg ouster_ns)"> | ||
| <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr" | ||
| output="screen" required="true" args="manager"/> | ||
| </group> | ||
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| <group ns="$(arg ouster_ns)"> | ||
| <node pkg="nodelet" type="nodelet" | ||
| name="os_node" output="screen" required="true" | ||
| launch-prefix="bash -c 'sleep 3; $0 $@' " | ||
| args="load ouster_ros/OusterPcap os_nodelet_mgr"> | ||
| <param name="~/metadata" value="$(arg metadata)"/> | ||
| <param name="~/pcap_file" value="$(arg pcap_file)"/> | ||
| </node> | ||
| </group> | ||
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| <include file="$(find ouster_ros)/launch/common.launch"> | ||
| <arg name="ouster_ns" value="$(arg ouster_ns)"/> | ||
| <arg name="viz" value="$(arg viz)"/> | ||
| <arg name="rviz_config" value="$(arg rviz_config)"/> | ||
| <arg name="tf_prefix" value="$(arg tf_prefix)"/> | ||
| <arg name="sensor_frame" value="$(arg sensor_frame)"/> | ||
| <arg name="lidar_frame" value="$(arg lidar_frame)"/> | ||
| <arg name="imu_frame" value="$(arg imu_frame)"/> | ||
| <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/> | ||
| <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" | ||
| value="$(arg dynamic_transforms_broadcast)"/> | ||
| <arg name="dynamic_transforms_broadcast_rate" | ||
| value="$(arg dynamic_transforms_broadcast_rate)"/> | ||
| <arg name="proc_mask" value="$(arg proc_mask)"/> | ||
| <arg name="scan_ring" value="$(arg scan_ring)"/> | ||
| <arg name="point_type" value="$(arg point_type)"/> | ||
| </include> | ||
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,7 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="3"> | ||
| <name>ouster_ros</name> | ||
| <version>0.12.3</version> | ||
| <version>0.12.4</version> | ||
| <description>Ouster ROS driver</description> | ||
| <maintainer email="[email protected]">ouster developers</maintainer> | ||
| <license file="LICENSE">BSD</license> | ||
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