ROS-227: Set LIDAR FOV on startup and add an option to persist the config [HUMBLE/IRON]

[Samahu]

Related Issues & PRs

• related Support setting sensor config #138
• closes Changing the FOV of the Lidar in ROS #227
• relatd ROS-227: Set LIDAR FOV on startup and add an option to persist the config [NOETIC] #356
• related ROS-227: Set LIDAR FOV on startup and add an option to persist the config [FOXY] #358

Summary of Changes

• Set LIDAR FOV on startup
• Add an option to persist the config

Validation

• Run the node with azimuth start and stop as follows

ros2 ouster_ros sensor.launch \
    azimuth_window_start:=150000 \
    azimuth_window_end:=250000

Verify that the azimuth window is cropped to selection

• Run the node with persist_config set true as follows

ros2 ouster_ros sensor.launch.xml \
   <pass a selection of settings> \
    persist_config:=true

Verify that the new settings persist after power up/down cycle of the sensor

ALTERNATIVELY

• Update the ros2 driver_params.yaml to set azimuth window start/end and the persist_config flag then launch the driver using:

ros2 launch ouster_ros driver.launch.py

Verify that the new settings persist after power up/down cycle of the sensor