From cd97df2fd12a030b7b7ae174bb93a7bd8d6898d5 Mon Sep 17 00:00:00 2001
From: Ussama Naal <606033+Samahu@users.noreply.github.com>
Date: Thu, 3 Oct 2024 23:01:38 +0300
Subject: [PATCH] 
 HOTFIX/ROS-376-initialize-the-sensor-with-launch-config-params (#380)

* Invoke parse_config_from_ros_parameters on node init
* Fix a typo + Add a note regarding the recommendation
---
 CHANGELOG.rst                     | 4 ++++
 README.md                         | 7 +++++++
 ouster-ros/package.xml            | 2 +-
 ouster-ros/src/os_sensor_node.cpp | 1 +
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index f9c87daa..505365dd 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog
 =========
 
+ouster_ros v0.13.1
+==================
+* [BUGFIX]: Make sure to initialize the sensor with launch file parameters.
+
 ouster_ros v0.13.0
 ==================
 * [BUGFIX]: LaserScan is not properly aligned with generated point cloud
diff --git a/README.md b/README.md
index 93d8dd56..ae0b6631 100644
--- a/README.md
+++ b/README.md
@@ -131,6 +131,13 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 > **Note**  
 > Specifying `Release` as the build type is important to have a reasonable performance of the driver.
 
+> **Note**  
+> For ROS2 we recommend using **CycloneDDS** over **FastDDS**, through out Galactic, Foxy, Humble distros.  
+> **FastDDS** is usually the default ros middleware on most platforms, please follow the
+[Guide](https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html)
+to learn how to enable **CycloneDDS** on your platform.  
+> We are yet to evaluate Zeonh performance against the ouster-ros driver for later distros.  
+
 Once the build succeeds, you must source the _install_ folder of your ros2 workspace to add launch
 commands to your environment:
 ```bash
diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml
index b9a7ba90..f29616b3 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>0.13.0</version>
+  <version>0.13.1</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>
diff --git a/ouster-ros/src/os_sensor_node.cpp b/ouster-ros/src/os_sensor_node.cpp
index 281a073d..fee03697 100644
--- a/ouster-ros/src/os_sensor_node.cpp
+++ b/ouster-ros/src/os_sensor_node.cpp
@@ -35,6 +35,7 @@ OusterSensor::OusterSensor(const std::string& name,
       change_state_client{
           create_client<ChangeState>(get_name() + "/change_state"s)} {
     declare_parameters();
+    staged_config = parse_config_from_ros_parameters();
     attempt_reconnect = get_parameter("attempt_reconnect").as_bool();
     dormant_period_between_reconnects = 
         get_parameter("dormant_period_between_reconnects").as_double();