Resolve the issue of losing LaserScans when DUAL mode enabled

ouster-lidar · Nov 23, 2023 · 36b80f1 · 36b80f1
1 parent 7a0e93f
commit 36b80f1
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/ouster-ros/src/laser_scan_processor.h b/ouster-ros/src/laser_scan_processor.h
@@ -30,14 +30,15 @@ class LaserScanProcessor {
           ld_mode(info.mode),
           ring_(ring),
           pixel_shift_by_row(info.format.pixel_shift_by_row),
-          scan_msgs(get_n_returns(info),
-                    std::make_shared<sensor_msgs::msg::LaserScan>()),
-          post_processing_fn(func) {}
+          scan_msgs(get_n_returns(info)), post_processing_fn(func) {
+            for (size_t i = 0; i < scan_msgs.size(); ++i)
+                scan_msgs[i] = std::make_shared<sensor_msgs::msg::LaserScan>();
+          }
 
    private:
     void process(const ouster::LidarScan& lidar_scan, uint64_t,
                  const rclcpp::Time& msg_ts) {
-        for (int i = 0; i < static_cast<int>(scan_msgs.size()); ++i) {
+        for (size_t i = 0; i < scan_msgs.size(); ++i) {
             *scan_msgs[i] = lidar_scan_to_laser_scan_msg(
                 lidar_scan, msg_ts, frame, ld_mode, ring_, pixel_shift_by_row, i);
         }

diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
@@ -148,8 +148,7 @@ class OusterCloud : public OusterProcessingNodeBase {
             processors.push_back(LaserScanProcessor::create(
                 info, tf_bcast.lidar_frame_id(), scan_ring,
                 [this](LaserScanProcessor::OutputType msgs) {
-                    for (size_t i = 0; i < msgs.size(); ++i)
-                        scan_pubs[i]->publish(*msgs[i]);
+                    for (size_t i = 0; i < msgs.size(); ++i) scan_pubs[i]->publish(*msgs[i]);
                 }));
         }
 

diff --git a/ouster-ros/src/os_driver_node.cpp b/ouster-ros/src/os_driver_node.cpp
@@ -126,8 +126,7 @@ class OusterDriver : public OusterSensor {
             processors.push_back(LaserScanProcessor::create(
                 info, tf_bcast.lidar_frame_id(), scan_ring,
                 [this](LaserScanProcessor::OutputType msgs) {
-                    for (size_t i = 0; i < msgs.size(); ++i)
-                        scan_pubs[i]->publish(*msgs[i]);
+                    for (size_t i = 0; i < msgs.size(); ++i) scan_pubs[i]->publish(*msgs[i]);
                 }));
         }