Add time update

ouster-lidar · Aug 15, 2024 · 33ac5bb · 33ac5bb
1 parent 781b603
commit 33ac5bb
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Showing 2 changed files with 2 additions and 18 deletions.
diff --git a/ouster-ros/launch/replay.independent.launch.xml b/ouster-ros/launch/replay.independent.launch.xml
@@ -1,5 +1,7 @@
 <launch>
 
+  <set_parameter name="use_sim_time" value="true" />
+
   <arg name="ouster_ns" default="ouster"
     description="Override the default namespace of all ouster nodes"/>
   <!-- TODO: revisit the proper behaviour of allowing users override the default timestamp_mode during replay -->

diff --git a/ouster-ros/src/os_pcap_node.cpp b/ouster-ros/src/os_pcap_node.cpp
@@ -320,24 +320,6 @@ class OusterPcap : public OusterSensorNodeBase {
 
     std::atomic<bool> lidar_packets_processing_thread_active = {false};
     std::unique_ptr<std::thread> lidar_packets_processing_thread;
-
-    bool force_sensor_reinit = false;
-    bool reset_last_init_id = true;
-
-    bool last_init_id_initialized = false;
-    uint32_t last_init_id;
-
-    // TODO: add as a ros parameter
-    const int max_poll_client_error_count = 10;
-    int poll_client_error_count = 0;
-    // TODO: add as a ros parameter
-    const int max_read_lidar_packet_errors = 60;
-    int read_lidar_packet_errors = 0;
-    // TODO: add as a ros parameter
-    const int max_read_imu_packet_errors = 60;
-    int read_imu_packet_errors = 0;
-
-    bool pause = false;
 };
 
 }  // namespace ouster_ros