Change the option for point type from auto to native and from legacy …

…to original
ouster-lidar · Oct 12, 2023 · e33552f · e33552f
1 parent 56823f8
commit e33552f
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Showing 4 changed files with 10 additions and 7 deletions.
diff --git a/ouster-ros/config/driver_params.yaml b/ouster-ros/config/driver_params.yaml
@@ -67,10 +67,10 @@ ouster/os_driver:
     # data QoS. This is preferrable for production but default QoS is needed for
     # rosbag. See: https://github.com/ros2/rosbag2/issues/125
     use_system_default_qos: false
-     # point_type[optional]: choose from: {legacy, auto, xyz, xyzi, xyzir}
+     # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
      # Here is a breif description of each option:
-     #  - legacy: legacy representation
-     #  - auto: directly maps all fields as published by the sensor to an
+     #  - original: ouster_ros::Point
+     #  - native: directly maps all fields as published by the sensor to an
      #          equivalent point cloud representation with the additon of ring
      #          and timestamp fields.
      #  - xyz: the simplest point type, only has {x, y, z}
@@ -81,4 +81,4 @@ ouster/os_driver:
      #          this type is not compatible with the low data profile.
      # for more details about the fields of each point type and their data refer
      # to ouster_ros/os_point.h header.
-    point_type: legacy
+    point_type: original
diff --git a/ouster-ros/config/os_sensor_cloud_image_params.yaml b/ouster-ros/config/os_sensor_cloud_image_params.yaml
@@ -27,6 +27,6 @@ ouster/os_cloud:
     use_system_default_qos: False # needs to match the value defined for os_sensor node
     scan_ring: 0  # Use this parameter in conjunction with the SCAN flag and choose a
                   # value the range [0, sensor_beams_count)
-    point_type: legacy # choose from: {legacy, auto, xyz, xyi, xyzir}
+    point_type: original # choose from: {original, native, xyz, xyzi, xyzir}
 ouster/os_image:
     use_system_default_qos: False # needs to match the value defined for os_sensor node
diff --git a/ouster-ros/src/point_cloud_processor.h b/ouster-ros/src/point_cloud_processor.h
@@ -14,7 +14,6 @@
 #include "ouster_ros/os_ros.h"
 // clang-format on
 
-#include "point_cloud_compose_lambda.h"
 #include "point_cloud_compose.h"
 #include "lidar_packet_handler.h"
 

diff --git a/ouster-ros/src/point_cloud_processor_factory.h b/ouster-ros/src/point_cloud_processor_factory.h
@@ -108,12 +108,14 @@ class PointCloudProcessorFactory {
                 info, frame, apply_lidar_to_sensor_transform, post_processing_fn);
         } else if (point_type == "xyzi") {
             if (info.format.udp_profile_lidar == UDPProfileLidar::PROFILE_RNG15_RFL8_NIR8)
+                // TODO: propagate warning message
                 // RCLCPP_WARN_STREAM(get_logger(),
                 //     "selected point type 'xyzi' is not compatible with the current udp profile: RNG15_RFL8_NIR8");
             return make_point_cloud_procssor<pcl::PointXYZI>(
                 info, frame, apply_lidar_to_sensor_transform, post_processing_fn);
         } else if (point_type == "xyzir") {
             if (info.format.udp_profile_lidar == UDPProfileLidar::PROFILE_RNG15_RFL8_NIR8)
+                // TODO: propagate warning message
                 // RCLCPP_WARN_STREAM(get_logger(),
                 //     "selected point type 'xyzir' is not compatible with the current udp profile: RNG15_RFL8_NIR8");
             return make_point_cloud_procssor<PointXYZIR>(
@@ -133,10 +135,12 @@ class PointCloudProcessorFactory {
                     return make_point_cloud_procssor<Point_RNG15_RFL8_NIR8>(
                         info, frame, apply_lidar_to_sensor_transform, post_processing_fn);
                 default:
-                    // TODO: revize fallback
+                    // TODO: propagate warning message
+                    // TODO: implement fallback
                     throw std::runtime_error("point_type is set to auto but current udp_profile_lidar is unknown");
             }
         } else if (point_type != "original") {
+            // TODO: propagate warning message
             // RCLCPP_WARN_STREAM(get_logger(),
             //     "Un-supported point type used: " << point_type <<
             //     "! falling back to driver original/legacy pcl point format");