From cee5af8453fc8ef0f3cdab1be30e1e95f7572572 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Fri, 2 Aug 2024 09:24:37 -0700
Subject: [PATCH] Turn off pcap by default and update change log and readme

---
 CHANGELOG.rst  |  2 ++
 CMakeLists.txt | 12 +++++++++---
 README.md      | 17 ++++++++++++++++-
 package.xml    |  2 +-
 4 files changed, 28 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 16f70070..fe3b6b38 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -15,6 +15,8 @@ Changelog
 * [BUGFIX]: Implement lock free ring buffer with throttling to avoid generating partial frames
 * add support for FUSA udp profile ``FUSA_RNG15_RFL8_NIR8_DUAL``.
 * [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
+* Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
+  explicitly by turning on the ``BUILD_PCAP`` cmake option and having ``libpcap-dev`` installed.
 
 
 ouster_ros v0.10.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2fceca39..284d5486 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,7 +64,7 @@ set(_SAVE_BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS})
 set(BUILD_SHARED_LIBS OFF)
 
 option(BUILD_VIZ "Enabled for Python build" OFF)
-option(BUILD_PCAP "Enabled for Python build" ON)
+option(BUILD_PCAP "Enabled for Python build" OFF)
 find_package(OusterSDK REQUIRED)
 
 set(BUILD_SHARED_LIBS ${_SAVE_BUILD_SHARED_LIBS})
@@ -75,9 +75,15 @@ include_directories(${_ouster_ros_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 # use only MPL-licensed parts of eigen
 add_definitions(-DEIGEN_MPL2_ONLY)
 
+set(OUSTER_TARGET_LINKS ouster_client)
+if (BUILD_PCAP)
+  list(APPEND OUSTER_TARGET_LINKS ouster_pcap)
+endif()
+
 add_library(ouster_ros src/os_ros.cpp)
-target_link_libraries(ouster_ros PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common PRIVATE
-  -Wl,--whole-archive ouster_client ouster_pcap -Wl,--no-whole-archive)
+target_link_libraries(ouster_ros
+  PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common
+  PRIVATE -Wl,--whole-archive ${OUSTER_TARGET_LINKS} -Wl,--no-whole-archive)
 add_dependencies(ouster_ros ${PROJECT_NAME}_gencpp)
 
 # ==== Executables ====
diff --git a/README.md b/README.md
index 97789ce5..07018417 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,7 @@
       - [Sensor Mode](#sensor-mode)
       - [Recording Mode](#recording-mode)
       - [Replay Mode](#replay-mode)
+        - [PCAP Replay Mode](#pcap-replay-mode)
       - [Multicast Mode (experimental)](#multicast-mode-experimental)
     - [Launch Files Arguments](#launch-files-arguments)
     - [Invoking Services](#invoking-services)
@@ -80,6 +81,9 @@ sudo apt install -y         \
 > **Note**  
 > You may choose a different ssl backend for the curl library such as `libcurl4-gnutls-dev` or `libcurl4-nss-dev`
 
+> **Note**  
+> To use the PCAP replay mode you need to have `libpcap-dev` installed
+
 ## Getting Started
 To build the driver using ROS you need to clone the project into the `src` folder of a catkin workspace
 as shown below:
@@ -131,7 +135,7 @@ over `sensor.launch`. `sensor.launch` is mainly provided for backward compatibil
 ```bash
 roslaunch ouster_ros record.launch      \
     sensor_hostname:=<sensor host name> \
-    bag_file:=<optional bag file name>
+    bag_file:=<optional bag file name>  \
     metadata:=<json file name>          # optional
 ```
 #### Replay Mode
@@ -145,6 +149,17 @@ roslaunch ouster_ros replay.launch      \
     metadata:=<json file name>          # optional if bag file has /metadata topic
 ```
 
+##### PCAP Replay Mode
+> Note
+> To use this feature you need to compile the driver with `BUILD_PCAP` option enabled
+
+```bash
+roslaunch ouster_ros replay_pcap.launch     \
+    pcap_file:=<path to ouster pcap file>   \
+    metadata:=<json file name>              # required
+```
+
+
 #### Multicast Mode (experimental)
 The multicast launch mode supports configuring the sensor to broadcast lidar packets from the same
 sensor (live) to multiple active clients. You initiate this mode by using `sensor_mtp.launch` file
diff --git a/package.xml b/package.xml
index 0785f997..d8e66bff 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.12.3</version>
+  <version>0.12.4</version>
   <description>Ouster ROS driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>