From 33ac5bb644e0a197e45760d3fde078a8c11a4fd3 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Thu, 15 Aug 2024 08:50:06 -0700
Subject: [PATCH] Add time update

---
 .../launch/replay.independent.launch.xml       |  2 ++
 ouster-ros/src/os_pcap_node.cpp                | 18 ------------------
 2 files changed, 2 insertions(+), 18 deletions(-)

diff --git a/ouster-ros/launch/replay.independent.launch.xml b/ouster-ros/launch/replay.independent.launch.xml
index cf3b4525..4e9b21d9 100644
--- 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
index f04841fd..74def1ef 100644
--- 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