Port azimuth window and persist config changes to ROS2

CHANGELOG.rst

@@ -13,7 +13,11 @@ Changelog
 * [BREAKING]: Set xyz values of individual points in the PointCloud to NaNs when range is zero.
 * Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
   explicitly by turning on the ``BUILD_PCAP`` cmake option and having ``libpcap-dev`` installed.
-
+* [BREAKING] Added new launch files args ``azimuth_window_start`` and ``azimuth_window_end`` to
+  allow users to set LIDAR FOV on startup. The new options will reset the current azimuth window
+  to the default
+* Added a new launch ``persist_config`` option to request the sensor persist the current config
+* Added a new ``loop`` option to the ``replay.launch.xml`` file.
 
 ouster_ros v0.12.0
 ==================

ouster-ros/launch/record.composite.launch.xml

@@ -77,6 +77,14 @@
     xyzir
     }"/>
 
+  <arg name="azimuth_window_start" default="0" doc="azimuth window start;
+    values range [0, 360000] millidegrees"/>
+  <arg name="azimuth_window_end" default="360000" doc="azimuth window end;
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
@@ -92,6 +100,9 @@
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
         <param name="metadata" value="$(var metadata)"/>
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
+        <param name="~/azimuth_window_start" value="$(var azimuth_window_start)"/>
+        <param name="~/azimuth_window_end" value="$(var azimuth_window_end)"/>
+        <param name="~/persist_config" value="$(var persist_config)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
         <param name="sensor_frame" value="$(var sensor_frame)"/>

ouster-ros/launch/replay.composite.launch.xml

@@ -2,6 +2,13 @@
 
   <set_parameter name="use_sim_time" value="true" />
 
+  <arg name="loop" default="false" doc="request loop playback"/>
+  <arg if="$(arg loop)" name="_loop" value="--loop"/>
+  <arg unless="$(arg loop)" name="_loop" value=" "/>
+
+  <remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
+  <remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
+
   <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 -->
@@ -100,7 +107,7 @@
 
   <executable if="$(var _use_bag_file_name)" output="screen"
     launch-prefix="bash -c 'sleep 3; $0 $@'"
-    cmd="ros2 bag play $(var bag_file) --clock
+    cmd="ros2 bag play $(var bag_file) --clock $(arg _loop)
       --qos-profile-overrides-path
       $(find-pkg-share ouster_ros)/config/metadata-qos-override.yaml"/>
 

ouster-ros/launch/sensor.independent.launch.xml

@@ -75,6 +75,14 @@
     xyzir
     }"/>
 
+  <arg name="azimuth_window_start" default="0" doc="azimuth window start;
+    values range [0, 360000] millidegrees"/>
+  <arg name="azimuth_window_end" default="360000" doc="azimuth window end;
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_sensor" name="os_sensor" output="screen">
@@ -89,6 +97,9 @@
       <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       <param name="metadata" value="$(var metadata)"/>
       <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
+      <param name="~/azimuth_window_start" value="$(var azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(var azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(var persist_config)"/>
     </node>
     <node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
       <param name="sensor_frame" value="$(var sensor_frame)"/>

ouster-ros/launch/sensor_mtp.launch.xml

@@ -81,6 +81,14 @@
     xyzir
     }"/>
 
+  <arg name="azimuth_window_start" default="0" doc="azimuth window start;
+    values range [0, 360000] millidegrees"/>
+  <arg name="azimuth_window_end" default="360000" doc="azimuth window end;
+    values range [0, 360000] millidegrees"/>
+
+  <arg name="persist_config" default="false"
+    doc="request the sensor to persist settings"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -103,6 +111,9 @@
       <param name="proc_mask" value="$(var proc_mask)"/>
       <param name="scan_ring" value="$(var scan_ring)"/>
       <param name="point_type" value="$(var point_type)"/>
+      <param name="~/azimuth_window_start" value="$(var azimuth_window_start)"/>
+      <param name="~/azimuth_window_end" value="$(var azimuth_window_end)"/>
+      <param name="~/persist_config" value="$(var persist_config)"/>
     </node>
   </group>
 

ouster-ros/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.12.5</version>
+  <version>0.12.6</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

ouster-ros/src/os_sensor_node.cpp

@@ -60,6 +60,9 @@ void OusterSensor::declare_parameters() {
     declare_parameter("timestamp_mode", "");
     declare_parameter("udp_profile_lidar", "");
     declare_parameter("use_system_default_qos", false);
+    declare_parameter("azimuth_window_start", MIN_AZW);
+    declare_parameter("azimuth_window_end", MAX_AZW);
+    declare_parameter("persist_config", false);
 }
 
 LifecycleNodeInterface::CallbackReturn OusterSensor::on_configure(
@@ -443,6 +446,8 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
     auto lidar_mode_arg = get_parameter("lidar_mode").as_string();
     auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
     auto udp_profile_lidar_arg = get_parameter("udp_profile_lidar").as_string();
+    auto azimuth_window_start = get_parameter("azimuth_window_start").as_int();
+    auto azimuth_window_end = get_parameter("azimuth_window_end").as_int();
 
     if (lidar_port < 0 || lidar_port > 65535) {
         auto error_msg =
@@ -525,6 +530,13 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
         config.udp_port_imu = imu_port;
     }
 
+    persist_config = get_parameter("persist_config").as_bool();
+    if (persist_config && (lidar_port == 0 || imu_port == 0)) {
+        RCLCPP_WARN("When using persist_config it is recommended to not "
+        "use 0 for port values as this currently will trigger sensor reinit "
+        "event each time");
+    }
+
     config.udp_profile_lidar = udp_profile_lidar;
     config.operating_mode = sensor::OPERATING_NORMAL;
     if (lidar_mode) config.ld_mode = lidar_mode;
@@ -537,6 +549,16 @@ sensor::sensor_config OusterSensor::parse_config_from_ros_parameters() {
         }
     }
 
+    if (azimuth_window_start < MIN_AZW || azimuth_window_start > MAX_AZW ||
+        azimuth_window_end < MIN_AZW || azimuth_window_end > MAX_AZW) {
+        auto error_msg = "azimuth window values must be between " +
+                    to_string(MIN_AZW) + " and " + to_string(MAX_AZW);
+        RCLCPP_ERROR_STREAM(error_msg);
+        throw std::runtime_error(error_msg);
+    }
+
+    config.azimuth_window = {azimuth_window_start, azimuth_window_end};
+
     return config;
 }
 
@@ -576,6 +598,11 @@ uint8_t OusterSensor::compose_config_flags(
         config_flags |= ouster::sensor::CONFIG_FORCE_REINIT;
     }
 
+    if (persist_config) {
+        RCLCPP_INFO("Configuration will be persisted");
+        config_flags |= ouster::sensor::CONFIG_PERSIST;
+    }
+
     return config_flags;
 }
 
@@ -673,9 +700,8 @@ void OusterSensor::allocate_buffers() {
 bool OusterSensor::init_id_changed(const sensor::packet_format& pf,
                                    const uint8_t* lidar_buf) {
     uint32_t current_init_id = pf.init_id(lidar_buf);
-    if (!last_init_id_initialized) {
+    if (!last_init_id) {
         last_init_id = current_init_id + 1;
-        last_init_id_initialized = true;
     }
     if (reset_last_init_id && last_init_id != current_init_id) {
         last_init_id = current_init_id;

ouster-ros/src/os_sensor_node.h

@@ -170,11 +170,11 @@ class OusterSensor : public OusterSensorNodeBase {
     std::atomic<bool> lidar_packets_processing_thread_active = {false};
     std::unique_ptr<std::thread> lidar_packets_processing_thread;
 
+    bool persist_config = false;
     bool force_sensor_reinit = false;
     bool reset_last_init_id = true;
 
-    bool last_init_id_initialized = false;
-    uint32_t last_init_id;
+    nonstd::optional<uint32_t> last_init_id;
 
     // TODO: add as a ros parameter
     const int max_poll_client_error_count = 10;
@@ -185,6 +185,9 @@ class OusterSensor : public OusterSensorNodeBase {
     // TODO: add as a ros parameter
     const int max_read_imu_packet_errors = 60;
     int read_imu_packet_errors = 0;
+
+    const int MIN_AZW = 0;
+    const int MAX_AZW = 360000;
 };
 
 }  // namespace ouster_ros