From 3006ea4d838355cb750e7cff8ace73c8a933d8f2 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Tue, 29 Oct 2024 18:24:15 -0700
Subject: [PATCH] Update launch files and CHANGELOG

---
 CHANGELOG.rst                                       | 3 +++
 ouster-ros/config/driver_params.yaml                | 6 +++++-
 ouster-ros/config/os_sensor_cloud_image_params.yaml | 1 +
 ouster-ros/launch/record.composite.launch.xml       | 5 +++++
 ouster-ros/launch/replay.composite.launch.xml       | 5 +++++
 ouster-ros/launch/replay_pcap.launch.xml            | 5 +++++
 ouster-ros/launch/sensor.composite.launch.xml       | 5 +++++
 ouster-ros/launch/sensor.independent.launch.xml     | 5 +++++
 ouster-ros/launch/sensor_mtp.launch.xml             | 5 +++++
 ouster-ros/package.xml                              | 2 +-
 10 files changed, 40 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d70bb997..8f20829b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -6,6 +6,9 @@ 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 users to turn off braodcast
+  of the sensor TF transforms.
+
 
 ouster_ros v0.13.2
 ==================
diff --git a/ouster-ros/config/driver_params.yaml b/ouster-ros/config/driver_params.yaml
index 8f6f5b40..05a0c217 100644
--- a/ouster-ros/config/driver_params.yaml
+++ b/ouster-ros/config/driver_params.yaml
@@ -56,7 +56,11 @@ ouster/os_driver:
     # point_cloud_frame[optional]: which frame of reference to use when
     # generating PointCloud2 or LaserScan messages, select between the values of
     # lidar_frame and sensor_frame.
-    point_cloud_frame: os_lidar 
+    point_cloud_frame: os_lidar
+    # pub_static_tf[optional]: 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.
+    pub_static_tf: true
     # proc_mask[optional]: use any combination of the 4 flags IMG, PCL, IMU and
     # SCAN to enable or disable their respective messages.
     proc_mask: IMU|PCL|SCAN|IMG|RAW
diff --git a/ouster-ros/config/os_sensor_cloud_image_params.yaml b/ouster-ros/config/os_sensor_cloud_image_params.yaml
index 52296c1d..593053f8 100644
--- a/ouster-ros/config/os_sensor_cloud_image_params.yaml
+++ b/ouster-ros/config/os_sensor_cloud_image_params.yaml
@@ -27,6 +27,7 @@ ouster/os_cloud:
     lidar_frame: os_lidar
     imu_frame: os_imu
     point_cloud_frame: os_lidar
+    pub_static_tf: true
     timestamp_mode: ''  # this value needs to match os_sensor/timestamp_mode
     ptp_utc_tai_offset: -37.0 # UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588
     proc_mask: IMU|PCL|SCAN # pick IMU, PCL, SCAN or any combination of the three options
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
index 0908ada5..d89d3c1f 100644
--- a/ouster-ros/launch/record.composite.launch.xml
+++ b/ouster-ros/launch/record.composite.launch.xml
@@ -55,6 +55,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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="use_system_default_qos" default="true"
     description="Use the default system QoS settings"/>
@@ -125,6 +129,7 @@
         <param name="lidar_frame" value="$(var lidar_frame)"/>
         <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+        <param name="pub_static_tf" value="$(var pub_static_tf)"/>
         <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)"/>
diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
index 7eba0a55..2d0a99a5 100644
--- a/ouster-ros/launch/replay.composite.launch.xml
+++ b/ouster-ros/launch/replay.composite.launch.xml
@@ -40,6 +40,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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."/>
 
   <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/>
 
@@ -87,6 +91,7 @@
         <param name="lidar_frame" value="$(var lidar_frame)"/>
         <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+        <param name="pub_static_tf" value="$(var pub_static_tf)"/>
         <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)"/>
diff --git a/ouster-ros/launch/replay_pcap.launch.xml b/ouster-ros/launch/replay_pcap.launch.xml
index 529e884b..9c5a7f3b 100644
--- a/ouster-ros/launch/replay_pcap.launch.xml
+++ b/ouster-ros/launch/replay_pcap.launch.xml
@@ -36,6 +36,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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."/>
 
   <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/>
 
@@ -84,6 +88,7 @@
         <param name="lidar_frame" value="$(var lidar_frame)"/>
         <param name="imu_frame" value="$(var imu_frame)"/>
         <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+        <param name="pub_static_tf" value="$(var pub_static_tf)"/>
         <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)"/>
diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
index 8d1c40f6..7ffae269 100644
--- a/ouster-ros/launch/sensor.composite.launch.xml
+++ b/ouster-ros/launch/sensor.composite.launch.xml
@@ -53,6 +53,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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="use_system_default_qos" default="false"
     description="Use the default system QoS settings"/>
@@ -119,6 +123,7 @@
       <param name="lidar_frame" value="$(var lidar_frame)"/>
       <param name="imu_frame" value="$(var imu_frame)"/>
       <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+      <param name="pub_static_tf" value="$(var pub_static_tf)"/>
       <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)"/>
diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
index 21cbeac1..41625bdb 100644
--- a/ouster-ros/launch/sensor.independent.launch.xml
+++ b/ouster-ros/launch/sensor.independent.launch.xml
@@ -53,6 +53,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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="use_system_default_qos" default="false"
     description="Use the default system QoS settings"/>
@@ -122,6 +126,7 @@
       <param name="lidar_frame" value="$(var lidar_frame)"/>
       <param name="imu_frame" value="$(var imu_frame)"/>
       <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+      <param name="pub_static_tf" value="$(var pub_static_tf)"/>
       <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)"/>
diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
index ab721f82..387aec86 100644
--- a/ouster-ros/launch/sensor_mtp.launch.xml
+++ b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -61,6 +61,10 @@
     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."/>
+  <arg name="pub_static_tf" default="true"
+    description="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="use_system_default_qos" default="false"
     description="Use the default system QoS settings"/>
@@ -117,6 +121,7 @@
       <param name="lidar_frame" value="$(var lidar_frame)"/>
       <param name="imu_frame" value="$(var imu_frame)"/>
       <param name="point_cloud_frame" value="$(var point_cloud_frame)"/>
+      <param name="pub_static_tf" value="$(var pub_static_tf)"/>
       <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)"/>
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index a2a1bd15..825707e9 100644
--- a/ouster-ros/package.xml
+++ b/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>0.13.3</version>
+  <version>0.13.4</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>