From 0ed1cb8d503bdd23b914376bc7f0f2f4b54d9f1a Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Mon, 28 Oct 2024 16:33:19 -0700
Subject: [PATCH 1/5] Remap metadata topic + add loop to pcap + add play delay
 & play rate

---
 launch/replay.launch      | 11 ++++++++---
 launch/replay_pcap.launch | 11 +++++++++--
 src/os_pcap_nodelet.cpp   | 16 ++++++++++++----
 3 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/launch/replay.launch b/launch/replay.launch
index 6bd3e5bc..0d2ca632 100644
--- a/launch/replay.launch
+++ b/launch/replay.launch
@@ -3,9 +3,13 @@
   <param name="use_sim_time" value="true"/>
 
   <arg name="loop" default="false" doc="request loop playback"/>
+  <arg name="play_delay" default="0.4"/>
+  <arg name="play_rate" default="1.0"/>
+
   <arg if="$(arg loop)" name="_loop" value="--loop"/>
   <arg unless="$(arg loop)" name="_loop" value=" "/>
 
+  <remap from="/os_node/metadata" to="/ouster/metadata"/>
   <remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
   <remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
 
@@ -111,9 +115,10 @@
 
   <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>
 
-  <node if="$(arg _use_bag_file_name)" pkg="rosbag" type="play" name="rosbag_play_recording"
-    launch-prefix="bash -c 'sleep 3; $0 $@' "
+  <node if="$(arg _use_bag_file_name)" pkg="rosbag" type="play"
+    name="rosbag_play_recording"
+    launch-prefix="bash -c 'sleep $(arg play_delay); $0 $@' "
     output="screen" required="true"
-    args="--clock $(arg bag_file) $(arg _loop)"/>
+    args="--clock $(arg bag_file) $(arg _loop) --rate $(arg play_rate)"/>
 
 </launch>
diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
index f6e957e4..bcf681d2 100644
--- a/launch/replay_pcap.launch
+++ b/launch/replay_pcap.launch
@@ -1,8 +1,13 @@
 <launch>
 
-  <!-- NOTE: pcap replay node does not implement clock-->
+  <!-- NOTE: pcap replay node does not implement clock -->
   <param name="use_sim_time" value="false"/>
 
+  <arg name="loop" default="false" doc="request loop playback"/>
+  <arg name="play_delay" default="0.4" doc="playback start delay"/>
+  <arg name="progress_update_freq" default="3.0"
+    doc="progress update frequency per second"/>
+
   <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"/>
@@ -71,10 +76,12 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet"
       name="os_node" output="screen" required="true"
-      launch-prefix="bash -c 'sleep 3; $0 $@' "
+      launch-prefix="bash -c 'sleep $(arg play_delay); $0 $@' "
       args="load ouster_ros/OusterPcap os_nodelet_mgr">
       <param name="~/metadata" value="$(arg metadata)"/>
       <param name="~/pcap_file" value="$(arg pcap_file)"/>
+      <param name="~/loop" value="$(arg loop)"/>
+      <param name="~/progress_update_freq" value="$(arg progress_update_freq)"/>
     </node>
   </group>
 
diff --git a/src/os_pcap_nodelet.cpp b/src/os_pcap_nodelet.cpp
index b2cdab49..8b7c486e 100644
--- a/src/os_pcap_nodelet.cpp
+++ b/src/os_pcap_nodelet.cpp
@@ -35,6 +35,10 @@ class OusterPcap : public OusterSensorNodeletBase {
     virtual void onInit() override {
         auto meta_file = get_meta_file();
         auto pcap_file = get_pcap_file();
+        loop = getPrivateNodeHandle().param("loop", false);
+        progress_update_freq = getPrivateNodeHandle().param("progress_update_freq", 1.0);
+        if (progress_update_freq < 0.001)
+            progress_update_freq = 0.001;
         create_metadata_pub();
         load_metadata_from_file(meta_file);
         allocate_buffers();
@@ -104,10 +108,12 @@ class OusterPcap : public OusterSensorNodeletBase {
         packet_read_active = true;
         packet_read_thread = std::make_unique<std::thread>([this]() {
             auto& pf = sensor::get_format(info);
-            while (packet_read_active) {
+            do {
                 read_packets(*pcap, pf);
-            }
+                pcap->reset();
+            } while (loop);
             NODELET_DEBUG("packet_read_thread done.");
+            ros::shutdown();
         });
     }
 
@@ -125,9 +131,9 @@ class OusterPcap : public OusterSensorNodeletBase {
         auto file_start = packet_info.timestamp;
         auto last_update = file_start;
         using namespace std::chrono_literals;
-        const auto UPDATE_PERIOD = duration_cast<microseconds>(1s / 3);
+        const auto UPDATE_PERIOD = duration_cast<microseconds>(1s / progress_update_freq);
 
-        while (ros::ok() && payload_size) {
+        while (ros::ok() && packet_read_active && payload_size) {
             auto start = high_resolution_clock::now();
             if (packet_info.dst_port == info.config.udp_port_imu) {
                 std::memcpy(imu_packet.buf.data(), pcap.current_data(),
@@ -167,6 +173,8 @@ class OusterPcap : public OusterSensorNodeletBase {
     PacketMsg imu_packet;
     ros::Publisher lidar_packet_pub;
     ros::Publisher imu_packet_pub;
+    bool loop;
+    double progress_update_freq;
 
     std::atomic<bool> packet_read_active = {false};
     std::unique_ptr<std::thread> packet_read_thread;

From 60ed5431084d606fb4a0a1dc44b3666182845a15 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Mon, 28 Oct 2024 16:41:17 -0700
Subject: [PATCH 2/5] Set default delay amount to zero

---
 launch/replay.launch      | 2 +-
 launch/replay_pcap.launch | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/replay.launch b/launch/replay.launch
index 0d2ca632..c1e50c2d 100644
--- a/launch/replay.launch
+++ b/launch/replay.launch
@@ -3,7 +3,7 @@
   <param name="use_sim_time" value="true"/>
 
   <arg name="loop" default="false" doc="request loop playback"/>
-  <arg name="play_delay" default="0.4"/>
+  <arg name="play_delay" default="0" doc="playback start delay in seconds"/>
   <arg name="play_rate" default="1.0"/>
 
   <arg if="$(arg loop)" name="_loop" value="--loop"/>
diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
index bcf681d2..2c754cd0 100644
--- a/launch/replay_pcap.launch
+++ b/launch/replay_pcap.launch
@@ -4,7 +4,7 @@
   <param name="use_sim_time" value="false"/>
 
   <arg name="loop" default="false" doc="request loop playback"/>
-  <arg name="play_delay" default="0.4" doc="playback start delay"/>
+  <arg name="play_delay" default="0" doc="playback start delay in seconds"/>
   <arg name="progress_update_freq" default="3.0"
     doc="progress update frequency per second"/>
 

From 7a2387974353363cd31e43452d333e101965c285 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Tue, 29 Oct 2024 16:42:10 -0700
Subject: [PATCH 3/5] Update CHANGELOG

---
 CHANGELOG.rst             | 1 +
 launch/replay_pcap.launch | 2 +-
 src/os_pcap_nodelet.cpp   | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d3f1295e..51dd6477 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -6,6 +6,7 @@ Changelog
 [unreleased]
 ============
 * [BUGFIX]: correctly align timestamps to the generated point cloud
+* Added support to enable **loop** for pcap replay + other replay config
 
 
 ouster_ros v0.13.0
diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
index 2c754cd0..abe4fee7 100644
--- a/launch/replay_pcap.launch
+++ b/launch/replay_pcap.launch
@@ -6,7 +6,7 @@
   <arg name="loop" default="false" doc="request loop playback"/>
   <arg name="play_delay" default="0" doc="playback start delay in seconds"/>
   <arg name="progress_update_freq" default="3.0"
-    doc="progress update frequency per second"/>
+    doc="playback progress update frequency per second"/>
 
   <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"/>
diff --git a/src/os_pcap_nodelet.cpp b/src/os_pcap_nodelet.cpp
index 8b7c486e..54b173cc 100644
--- a/src/os_pcap_nodelet.cpp
+++ b/src/os_pcap_nodelet.cpp
@@ -111,7 +111,7 @@ class OusterPcap : public OusterSensorNodeletBase {
             do {
                 read_packets(*pcap, pf);
                 pcap->reset();
-            } while (loop);
+            } while (ros::ok() && packet_read_active && loop);
             NODELET_DEBUG("packet_read_thread done.");
             ros::shutdown();
         });

From 83af8d4e676650546d3f686d1cb6413e20539897 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Wed, 30 Oct 2024 08:49:46 -0700
Subject: [PATCH 4/5] Add a parameter to enable/disable broadcast of sensor
 transfroms

---
 CHANGELOG.rst                   |  2 ++
 launch/common.launch            |  5 +++++
 launch/driver.launch            |  5 +++++
 launch/record.launch            |  5 +++++
 launch/replay.launch            |  5 +++++
 launch/replay_pcap.launch       |  5 +++++
 launch/sensor.launch            |  5 +++++
 launch/sensor_mtp.launch        |  5 +++++
 package.xml                     |  2 +-
 src/os_cloud_nodelet.cpp        | 30 ++++++++++++++++--------------
 src/os_driver_nodelet.cpp       |  4 +++-
 src/os_transforms_broadcaster.h |  4 ++++
 12 files changed, 61 insertions(+), 16 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 51dd6477..57a28d01 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -7,6 +7,8 @@ Changelog
 ============
 * [BUGFIX]: correctly align timestamps to the generated point cloud
 * Added support to enable **loop** for pcap replay + other replay config
+* Added a new launch file parameter ``pub_static_tf`` that allows uers to turn off the broadcast
+  of sensor TF transforms.
 
 
 ouster_ros v0.13.0
diff --git a/launch/common.launch b/launch/common.launch
index 8ab62420..e3347b81 100644
--- a/launch/common.launch
+++ b/launch/common.launch
@@ -12,6 +12,10 @@
   <arg name="imu_frame" doc="
     sets name of choice for the os_imu tf frame, value can not be empty"/>
   <arg name="point_cloud_frame" doc="
+    when this flag is set to True, the driver will broadcast the TF transforms
+    for the imu/sensor/lidar frames. Prevent the driver from broadcasting TF transforms by
+    setting this parameter to False.."/>
+  <arg name="pub_static_tf" 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."/>
@@ -56,6 +60,7 @@
       <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
       <param name="~/imu_frame" value="$(arg imu_frame)"/>
       <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
+      <param name="~/pub_static_tf" value="$(arg pub_static_tf)"/>
       <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
       <param name="~/dynamic_transforms_broadcast" type="bool"
         value="$(arg dynamic_transforms_broadcast)"/>
diff --git a/launch/driver.launch b/launch/driver.launch
index ae62eaef..ee8ce955 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -46,6 +46,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -119,6 +123,7 @@
       <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
       <param name="~/imu_frame" value="$(arg imu_frame)"/>
       <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
+      <param name="~/pub_static_tf" value="$(arg pub_static_tf)"/>
       <param name="~/proc_mask" value="$(arg proc_mask)"/>
       <param name="~/scan_ring" value="$(arg scan_ring)"/>
       <param name="~/point_type" value="$(arg point_type)"/>
diff --git a/launch/record.launch b/launch/record.launch
index edd74a2d..d898e030 100644
--- a/launch/record.launch
+++ b/launch/record.launch
@@ -44,6 +44,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -123,6 +127,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <aeg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <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"
diff --git a/launch/replay.launch b/launch/replay.launch
index c1e50c2d..0c66c3fb 100644
--- a/launch/replay.launch
+++ b/launch/replay.launch
@@ -39,6 +39,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -98,6 +102,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <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"
diff --git a/launch/replay_pcap.launch b/launch/replay_pcap.launch
index abe4fee7..05b544c2 100644
--- a/launch/replay_pcap.launch
+++ b/launch/replay_pcap.launch
@@ -34,6 +34,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -94,6 +98,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <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"
diff --git a/launch/sensor.launch b/launch/sensor.launch
index d1a9f402..097012a3 100644
--- a/launch/sensor.launch
+++ b/launch/sensor.launch
@@ -47,6 +47,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -140,6 +144,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="_no_bond" value="$(arg _no_bond)"/>
diff --git a/launch/sensor_mtp.launch b/launch/sensor_mtp.launch
index 142165ac..b200ca19 100644
--- a/launch/sensor_mtp.launch
+++ b/launch/sensor_mtp.launch
@@ -51,6 +51,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true" 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."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -146,6 +150,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="_no_bond" value="$(arg _no_bond)"/>
diff --git a/package.xml b/package.xml
index 5d3715d9..e09a1602 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.13.1</version>
+  <version>0.13.2</version>
   <description>Ouster ROS driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>
diff --git a/src/os_cloud_nodelet.cpp b/src/os_cloud_nodelet.cpp
index 189a5bb1..d3c81c09 100644
--- a/src/os_cloud_nodelet.cpp
+++ b/src/os_cloud_nodelet.cpp
@@ -76,20 +76,22 @@ class OusterCloud : public nodelet::Nodelet {
             dynamic_transforms_rate = 1.0;
         }
 
-        if (!dynamic_transforms) {
-            NODELET_INFO("OusterCloud: using static transforms broadcast");
-            tf_bcast.broadcast_transforms(info);
-        } else {
-            NODELET_INFO_STREAM(
-                "OusterCloud: dynamic transforms broadcast enabled with "
-                "broadcast rate of: "
-                << dynamic_transforms_rate << " Hz");
-            timer_.stop();
-            timer_ = getNodeHandle().createTimer(
-                ros::Duration(1.0 / dynamic_transforms_rate),
-                [this, info](const ros::TimerEvent&) {
-                    tf_bcast.broadcast_transforms(info, last_msg_ts);
-                });
+        if (tf_bcast.publish_static_tf()) {
+            if (!dynamic_transforms) {
+                NODELET_INFO("OusterCloud: using static transforms broadcast");
+                tf_bcast.broadcast_transforms(info);
+            } else {
+                NODELET_INFO_STREAM(
+                    "OusterCloud: dynamic transforms broadcast enabled with "
+                    "broadcast rate of: "
+                    << dynamic_transforms_rate << " Hz");
+                timer_.stop();
+                timer_ = getNodeHandle().createTimer(
+                    ros::Duration(1.0 / dynamic_transforms_rate),
+                    [this, info](const ros::TimerEvent&) {
+                        tf_bcast.broadcast_transforms(info, last_msg_ts);
+                    });
+            }
         }
 
         create_handlers(info);
diff --git a/src/os_driver_nodelet.cpp b/src/os_driver_nodelet.cpp
index 13129a9e..34984915 100644
--- a/src/os_driver_nodelet.cpp
+++ b/src/os_driver_nodelet.cpp
@@ -62,7 +62,9 @@ class OusterDriver : public OusterSensor {
         // for OusterDriver we are going to always assume static broadcast
         // at least for now
         tf_bcast.parse_parameters(getPrivateNodeHandle());
-        tf_bcast.broadcast_transforms(info);
+        if (tf_bcast.publish_static_tf()) {
+            tf_bcast.broadcast_transforms(info);
+        }
         create_handlers();
     }
 
diff --git a/src/os_transforms_broadcaster.h b/src/os_transforms_broadcaster.h
index c4b6b215..4bd4bdb5 100644
--- a/src/os_transforms_broadcaster.h
+++ b/src/os_transforms_broadcaster.h
@@ -32,6 +32,7 @@ class OusterTransformsBroadcaster {
         lidar_frame = pnh.param("lidar_frame", std::string{"os_lidar"});
         imu_frame = pnh.param("imu_frame", std::string{"os_imu"});
         point_cloud_frame = pnh.param("point_cloud_frame", std::string{});
+        pub_static_tf = pnh.param("pub_static_tf", true);
 
         if (!is_arg_set(sensor_frame) || !is_arg_set(lidar_frame) ||
             !is_arg_set(imu_frame)) {
@@ -100,6 +101,8 @@ class OusterTransformsBroadcaster {
         return point_cloud_frame == sensor_frame;
     }
 
+    bool publish_static_tf() const { return pub_static_tf; }
+
    private:
     std::string node_name;
     tf2_ros::StaticTransformBroadcaster static_tf_bcast;
@@ -108,6 +111,7 @@ class OusterTransformsBroadcaster {
     std::string lidar_frame;
     std::string sensor_frame;
     std::string point_cloud_frame;
+    bool pub_static_tf;
 };
 
 }  // namespace ouster_ros

From 1d7d7eec80cb5f350319ae27abb4dcc84d610be7 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Wed, 30 Oct 2024 08:53:10 -0700
Subject: [PATCH 5/5] CHANGELOG typo

---
 CHANGELOG.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 57a28d01..90239a4b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -7,7 +7,7 @@ Changelog
 ============
 * [BUGFIX]: correctly align timestamps to the generated point cloud
 * Added support to enable **loop** for pcap replay + other replay config
-* Added a new launch file parameter ``pub_static_tf`` that allows uers to turn off the broadcast
+* Added a new launch file parameter ``pub_static_tf`` that allows users to turn off the broadcast
   of sensor TF transforms.