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ROS2[HUMBLE/IRON] add pcap reader (#355)
* Port the pcap replay to ros2-foxy * Add time update
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| <launch> | ||
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| <!-- NOTE: pcap replay node does not implement clock--> | ||
| <set_parameter name="use_sim_time" value="false" /> | ||
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| <arg name="ouster_ns" default="ouster" | ||
| description="Override the default namespace of all ouster nodes"/> | ||
| <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" | ||
| description="method used to 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" | ||
| description="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/> | ||
| <arg name="metadata" description="path to write metadata file when receiving sensor data"/> | ||
| <arg name="pcap_file" 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="$(find-pkg-share ouster_ros)/config/viz-reliable.rviz" | ||
| description="optional rviz config file"/> | ||
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| <arg name="sensor_frame" default="os_sensor" | ||
| description="sets name of choice for the sensor_frame tf frame, value can not be empty"/> | ||
| <arg name="lidar_frame" default="os_lidar" | ||
| description="sets name of choice for the os_lidar tf frame, value can not be empty"/> | ||
| <arg name="imu_frame" default="os_imu" | ||
| description="sets name of choice for the os_imu tf frame, value can not be empty"/> | ||
| <arg name="point_cloud_frame" default="" | ||
| description="which frame to be used when publishing PointCloud2 or LaserScan messages. | ||
| Choose between the value of sensor_frame or lidar_frame, leaving this value empty | ||
| would set lidar_frame to be the frame used when publishing these messages."/> | ||
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| <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/> | ||
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| <arg name="use_system_default_qos" default="true" | ||
| description="Use the default system QoS settings"/> | ||
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| <arg name="proc_mask" default="IMG|PCL|IMU|SCAN" description=" | ||
| The IMG flag here is not supported and does not affect anything, | ||
| to disable image topics you would need to omit the os_image node | ||
| from the launch file"/> | ||
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| <arg name="scan_ring" default="0" description=" | ||
| use this parameter in conjunction with the SCAN flag | ||
| and choose a value the range [0, sensor_beams_count)"/> | ||
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| <arg name="point_type" default="original" description="point type for the generated point cloud; | ||
| available options: { | ||
| original, | ||
| native, | ||
| xyz, | ||
| xyzi, | ||
| xyzir | ||
| }"/> | ||
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| <group> | ||
| <push-ros-namespace namespace="$(var ouster_ns)"/> | ||
| <node if="$(var _use_metadata_file)" pkg="ouster_ros" exec="os_pcap" name="os_pcap" output="screen"> | ||
| <param name="metadata" value="$(var metadata)"/> | ||
| <param name="pcap_file" value="$(var pcap_file)"/> | ||
| <param name="use_system_default_qos" value="$(var use_system_default_qos)"/> | ||
| </node> | ||
| <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace=""> | ||
| <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud"> | ||
| <param name="sensor_frame" value="$(var sensor_frame)"/> | ||
| <param name="lidar_frame" value="$(var lidar_frame)"/> | ||
| <param name="imu_frame" value="$(var imu_frame)"/> | ||
| <param name="point_cloud_frame" value="$(var point_cloud_frame)"/> | ||
| <param name="timestamp_mode" value="$(var timestamp_mode)"/> | ||
| <param name="ptp_utc_tai_offset" value="$(var ptp_utc_tai_offset)"/> | ||
| <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="$(var use_system_default_qos)"/> | ||
| </composable_node> | ||
| </node_container> | ||
| </group> | ||
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| <!-- HACK: configure and activate the replay node via a process execute since state | ||
| transition is currently not availabe through launch.xml format --> | ||
| <executable if="$(var _use_metadata_file)" | ||
| cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_pcap configure" | ||
| launch-prefix="bash -c 'sleep 0; $0 $@'" output="screen"/> | ||
| <executable if="$(var _use_metadata_file)" | ||
| cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_pcap activate" | ||
| launch-prefix="bash -c 'sleep 1; $0 $@'" output="screen"/> | ||
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| <include if="$(var viz)" file="$(find-pkg-share ouster_ros)/launch/rviz.launch.xml"> | ||
| <arg name="ouster_ns" value="$(var ouster_ns)"/> | ||
| <arg name="rviz_config" value="$(var rviz_config)"/> | ||
| </include> | ||
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
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@@ -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>0.12.4</version> | ||
| <version>0.12.5</version> | ||
| <description>Ouster ROS2 driver</description> | ||
| <maintainer email="[email protected]">ouster developers</maintainer> | ||
| <license file="LICENSE">BSD</license> | ||
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