Add the RAW option

ouster-lidar · Sep 16, 2024 · 485fef3 · 485fef3
1 parent 71fbced
commit 485fef3
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Showing 2 changed files with 12 additions and 4 deletions.
diff --git a/launch/driver.launch b/launch/driver.launch
@@ -52,7 +52,7 @@
   <arg if="$(arg no_bond)" name="_no_bond" value="--no-bond"/>
   <arg unless="$(arg no_bond)" name="_no_bond" value=" "/>
 
-  <arg name="proc_mask" default="IMG|PCL|IMU|SCAN" doc="
+  <arg name="proc_mask" default="IMU|PCL|SCAN|IMG|RAW" doc="
     use any combination of the 4 flags to enable or disable specific processors"/>
 
   <arg name="scan_ring" default="0" doc="

diff --git a/src/os_driver_nodelet.cpp b/src/os_driver_nodelet.cpp
@@ -42,7 +42,7 @@ class OusterDriver : public OusterSensor {
    protected:
     virtual void onInit() override {
         auto& pnh = getPrivateNodeHandle();
-        auto proc_mask = pnh.param("proc_mask", std::string{"IMU|PCL|SCAN"});
+        auto proc_mask = pnh.param("proc_mask", std::string{"IMU|PCL|SCAN|IMG|RAW"});
         auto tokens = impl::parse_tokens(proc_mask, '|');
         if (impl::check_token(tokens, "IMU"))
             create_imu_pub();
@@ -52,6 +52,7 @@ class OusterDriver : public OusterSensor {
             create_laser_scan_pubs();
         if (impl::check_token(tokens, "IMG"))
             create_image_pubs();
+        publish_raw = impl::check_token(tokens, "RAW");
         OusterSensor::onInit();
     }
 
@@ -190,15 +191,19 @@ class OusterDriver : public OusterSensor {
         if (lidar_packet_handler) {
             lidar_packet_handler(lidar_packet);
         }
-        OusterSensor::on_lidar_packet_msg(lidar_packet);
+
+        if (publish_raw)
+            OusterSensor::on_lidar_packet_msg(lidar_packet);
     }
 
     virtual void on_imu_packet_msg(const ImuPacket& imu_packet) override {
         if (imu_packet_handler) {
             auto imu_msg = imu_packet_handler(imu_packet);
             imu_pub.publish(imu_msg);
         }
-        OusterSensor::on_imu_packet_msg(imu_packet);
+
+        if (publish_raw)
+            OusterSensor::on_imu_packet_msg(imu_packet);
     }
 
    private:
@@ -211,6 +216,9 @@ class OusterDriver : public OusterSensor {
 
     ImuPacketHandler::HandlerType imu_packet_handler;
     LidarPacketHandler::HandlerType lidar_packet_handler;
+
+    bool publish_raw = false;
+
 };
 
 }  // namespace ouster_ros