Why does the driver not reinitialize the sensor config when I pass parameters different from the currently active config?

[themightyoarfish]

Describe the bug

When starting the ROS2 driver e.g. like this

ros2 launch ouster_ros sensor.launch.xml  sensor_hostname:=os-122307000738.local lidar_mode:=1024x10 viz:=false udp_profile_lidar:=RNG15_RFL8_NIR8

while the currently active lidar mode is 1024x20, the sensor config is not changed. The logging just says

[os_driver-1] [INFO] [1727862779.854131919] [ouster.os_driver]: Wrote sensor metadata to os-122307000738-metadata.json
[os_driver-1] [INFO] [1727862779.854166263] [ouster.os_driver]: ouster client version: 0.11.1+483206f-release
[os_driver-1] product: OS-1-128, sn: 122307000738, firmware rev: v3.0.1
[os_driver-1] lidar mode: 1024x20, lidar udp profile: RNG15_RFL8_NIR8
[os_driver-1] [INFO] [1727862779.855098502] [ouster.os_driver]: reset service created
[os_driver-1] [INFO] [1727862779.855713542] [ouster.os_driver]: get_metadata service created

What is the use for passing arguments if they do not modify the active config? Is there a way to change this and have the sensor reinitialize? This affects every setting.

To Reproduce

1. set some lidar mode on via browser, set config active and persist
2. run driver (ros2 humble) with current lidar mode to verify function
3. stop and restart driver with different lidar mode
4. observe that new lidar mode is not configured

Platform (please complete the following information):

• Ouster Sensor? OS1-128 rev7
• Ouster Firmware Version? v3.0.1
• ROS version/distro? humble
• Operating System? ubuntu mate 22.04
• Machine Architecture? x64
• git commit hash (if not the latest): 5dd8555

[themightyoarfish]

There seems to be no was to force the sensor to reinitialize with the chosen parameters, correct?

[Samahu]

Hi @themightyoarfish, thanks for reporting the problem. I was able to re-produce the issue and I have created a fix for it. This was a result of a human error on my behalf when porting the reconnection logic from ROS1 driver to ROS2: #369 and I haven't sufficiently tested the solution on the ROS2 branch. If you have time please take a look at #380 and let me know if you still have a problem not getting the parameters applied on startup.

[Samahu]

Fixed in 0.13.1 per #380