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ROS-389 [rolling/humble/iron/jazzy]: replay-improvments-and-fixes #393

Merged
merged 8 commits into from
Oct 30, 2024
Merged

ROS-389 [rolling/humble/iron/jazzy]: replay-improvments-and-fixes #393

merged 8 commits into from
Oct 30, 2024

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Samahu
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@Samahu Samahu commented Oct 29, 2024 •
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Summary of Changes

  • Remap /metadata topic
  • Support loop capability in pcap replay
  • Add play_delay to regular replay and pcap replay
  • Expose play_rate for the bag file replay
  • Added a parameter pub_static_tf to disable tf tansforms broadcast

Validation

  • Test the newly exposed flags for replay_pcap
ros2 launch ouster_ros replay_pcap.launch.xml pcap_file:=<...> json_file:=<...> loop:=true play_delay:=10
  • Test the newly exposed flags for bag replay
ros2 launch ouster_ros replay_pcap.launch.xml bag_file:=<...> loop:=true play_delay:=10 play_rate:=1.5
  • Test that setting pub_static_tf to false disables the publish of sensor tf transforms

@Samahu Samahu added the enhancement New feature or request label Oct 29, 2024
@Samahu Samahu self-assigned this Oct 29, 2024
@Samahu Samahu mentioned this pull request Oct 29, 2024
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@Samahu Samahu mentioned this pull request Oct 29, 2024
Merged
@Samahu Samahu changed the base branch from master to ros2 October 29, 2024 23:42
@Samahu Samahu marked this pull request as ready for review October 30, 2024 15:18
@Samahu Samahu merged commit f200438 into ros2 Oct 30, 2024
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@Samahu Samahu mentioned this pull request Oct 30, 2024
Closed
@Samahu Samahu deleted the ROS2-389-replay-improvments-and-fixes branch October 30, 2024 20:49
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Reviewers

@matthew-lidar matthew-lidar matthew-lidar approved these changes

@twslankard twslankard Awaiting requested review from twslankard

@celentes celentes Awaiting requested review from celentes

@chrisbayruns chrisbayruns Awaiting requested review from chrisbayruns

@akatumalla-ouster akatumalla-ouster Awaiting requested review from akatumalla-ouster

@diego-guridi diego-guridi Awaiting requested review from diego-guridi

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@Samahu Samahu

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Successfully merging this pull request may close these issues.

replay_pcap is not working with cyclone_dds.
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@Samahu @matthew-lidar @doisyg