Bump up ouster_client to 20231031 release (#263)

* Bump up ouster_client to 20231031 release
* fix: gracefully stop the driver when shutdown is requested.

CHANGELOG.rst

@@ -2,9 +2,13 @@
 Changelog
 =========
 
-[unreleased]
-============
-* breaking: publish PCL point clouds destaggered.
+ouster_ros v0.12.0
+==================
+
+ouster_ros(2)
+-------------
+* [BREAKING]: updated ouster_client to the release of ``20231031`` [v0.10.0]; changes listed below.
+* [BREAKING]: publish PCL point clouds destaggered.
 * 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.
@@ -16,6 +20,39 @@ Changelog
 * added the ability to customize the published point clouds(s) to velodyne point cloud format and
   other common pcl point types.
 * ouster_image_compoenent can operate separately from ouster_cloud_component.
+* fix: gracefully stop the driver when shutdown is requested.
+
+ouster_client
+-------------
+* [BREAKING] Updates to ``sensor_info`` include:
+    * new fields added: ``build_date``, ``image_rev``, ``prod_pn``, ``status``, ``cal`` (representing
+      the value stored in the ``calibration_status`` metadata JSON key), ``config`` (representing the
+      value of the ``sensor_config`` metadata JSON key)
+    * the original JSON string is accessible via the ``original_string()`` method
+    * The ``updated_metadata_string()`` now returns a JSON string reflecting any modifications to
+      ``sensor_info``
+    * ``to_string`` is now marked as deprecated
+* [BREAKING] The RANGE field defined in `parsing.cpp`, for the low data rate profile, is now 32 bits
+  wide (originally 16 bits).
+    * Please note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] The NEAR_IR field defined in `parsing.cpp`, for the low data rate profile, is now 16
+  bits wide (originally 8 bits).
+    * Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] changed frame_id return size to 32 bits from 16 bits
+* An array of per-packet timestamps (called ``packet_timestamp``) is added to ``LidarScan``
+* The client now retries failed requests to an Ouster sensor's HTTP API
+* Increased the default timeout for HTTP requests to 40s
+* Added FuSA UDP profile to support Ouster FW 3.1+
+* Improved ``ScanBatcher`` performance by roughly 3x (depending on hardware)
+* Receive buffer size increased from 256KB to 1MB
+* [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the ``viz.Cloud``
+  Python class
+* [bugfix] Fixed an issue that resulted in some ``packet_format`` methods returning an uninitialized
+  value
+* [bugfix] Fixed a libpcap-related linking issue
+* [bugfix] Fixed an eigen 3.3-related linking issue
+* [bugfix] Fixed a zero beam angle calculation issue
+* [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10
 
 ouster_ros v0.10.0
 ==================

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>0.11.2</version>
+  <version>0.12.0</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

ouster-ros/src/os_driver_node.cpp

@@ -40,6 +40,11 @@ class OusterDriver : public OusterSensor {
         declare_parameter("point_type", "original");
     }
 
+    ~OusterDriver() override {
+        RCLCPP_DEBUG(get_logger(), "OusterDriver::~OusterDriver() called");
+        halt();
+    }
+
     LifecycleNodeInterface::CallbackReturn on_activate(
         const rclcpp_lifecycle::State& state) {
         RCLCPP_DEBUG(get_logger(), "os_driver::on_activate() is called.");

ouster-ros/src/os_sensor_node.cpp

@@ -36,6 +36,16 @@ OusterSensor::OusterSensor(const std::string& name,
 OusterSensor::OusterSensor(const rclcpp::NodeOptions& options)
     : OusterSensor("os_sensor", options) {}
 
+OusterSensor::~OusterSensor() {
+    RCLCPP_DEBUG(get_logger(), "OusterSensor::~OusterSensor() called");
+    halt();
+}
+
+void OusterSensor::halt() {
+    stop_packet_processing_threads();
+    stop_sensor_connection_thread();
+}
+
 void OusterSensor::declare_parameters() {
     declare_parameter("sensor_hostname", "");
     declare_parameter("lidar_ip", "");      // community driver param
@@ -325,7 +335,6 @@ void OusterSensor::reactivate_sensor(bool init_id_reset) {
     reset_last_init_id = init_id_reset;
     active_config.clear();
     cached_metadata.clear();
-    imu_packets_skip = lidar_packets_skip = true;
     auto request_transitions = std::vector<uint8_t>{
         lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE,
         lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE};
@@ -789,24 +798,21 @@ void OusterSensor::stop_sensor_connection_thread() {
 }
 
 void OusterSensor::start_packet_processing_threads() {
-    imu_packets_skip = false;
     imu_packets_processing_thread_active = true;
     imu_packets_processing_thread = std::make_unique<std::thread>([this]() {
-        auto read_packet = [this](const uint8_t* buffer) {
-            if (!imu_packets_skip) on_imu_packet_msg(buffer);
-        };
         while (imu_packets_processing_thread_active) {
-            imu_packets->read(read_packet);
+            imu_packets->read([this](const uint8_t* buffer) {
+                on_imu_packet_msg(buffer);
+            });
         }
         RCLCPP_DEBUG(get_logger(), "imu_packets_processing_thread done.");
     });
 
-    lidar_packets_skip = false;
     lidar_packets_processing_thread_active = true;
     lidar_packets_processing_thread = std::make_unique<std::thread>([this]() {
         while (lidar_packets_processing_thread_active) {
             lidar_packets->read([this](const uint8_t* buffer) {
-                if (!lidar_packets_skip) on_lidar_packet_msg(buffer);
+                on_lidar_packet_msg(buffer);
             });
         }
         RCLCPP_DEBUG(get_logger(), "lidar_packets_processing_thread done.");

ouster-ros/src/os_sensor_node.h

@@ -39,6 +39,7 @@ class OusterSensor : public OusterSensorNodeBase {
     OUSTER_ROS_PUBLIC
     OusterSensor(const std::string& name, const rclcpp::NodeOptions& options);
     explicit OusterSensor(const rclcpp::NodeOptions& options);
+    ~OusterSensor() override;
 
     LifecycleNodeInterface::CallbackReturn on_configure(
         const rclcpp_lifecycle::State& state);
@@ -66,6 +67,8 @@ class OusterSensor : public OusterSensorNodeBase {
 
     virtual void cleanup();
 
+    void halt();
+
    private:
     void declare_parameters();
 
@@ -164,11 +167,9 @@ class OusterSensor : public OusterSensorNodeBase {
     std::unique_ptr<std::thread> sensor_connection_thread;
 
     std::atomic<bool> imu_packets_processing_thread_active = {false};
-    std::atomic<bool> imu_packets_skip;
     std::unique_ptr<std::thread> imu_packets_processing_thread;
 
     std::atomic<bool> lidar_packets_processing_thread_active = {false};
-    std::atomic<bool> lidar_packets_skip;
     std::unique_ptr<std::thread> lidar_packets_processing_thread;
 
     bool force_sensor_reinit = false;

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>0.11.2</version>
+  <version>0.12.0</version>
   <description>ouster_ros message and service definitions</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license>BSD</license>