Formatting + documentation

ouster-ros/config/driver_params.yaml

@@ -67,21 +67,21 @@ ouster/os_driver:
     # data QoS. This is preferrable for production but default QoS is needed for
     # rosbag. See: https://github.com/ros2/rosbag2/issues/125
     use_system_default_qos: false
-     # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
-     # Here is a breif description of each option:
-     #  - original: ouster_ros::Point
-     #  - native: directly maps all fields as published by the sensor to an
-     #          equivalent point cloud representation with the additon of ring
-     #          and timestamp fields.
-     #  - xyz: the simplest point type, only has {x, y, z}
-     #  - xyzi: same as xyz point type but adds intensity (signal) field. this
-     #          type is not compatible with the low data profile.
-     #  - xyzir: same as xyzi type but adds ring (channel) field.
-     #          this type is same as Velodyne point cloud type
-     #          this type is not compatible with the low data profile.
-     # for more details about the fields of each point type and their data refer
-     # to the following header files:
-     # - ouster_ros/os_point.h
-     # - ouster_ros/sensor_point_types.h
-     # - ouster_ros/common_point_types.h.
+    # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
+    # Here is a breif description of each option:
+    #  - original: ouster_ros::Point
+    #  - native: directly maps all fields as published by the sensor to an
+    #          equivalent point cloud representation with the additon of ring
+    #          and timestamp fields.
+    #  - xyz: the simplest point type, only has {x, y, z}
+    #  - xyzi: same as xyz point type but adds intensity (signal) field. this
+    #          type is not compatible with the low data profile.
+    #  - xyzir: same as xyzi type but adds ring (channel) field.
+    #          this type is same as Velodyne point cloud type
+    #          this type is not compatible with the low data profile.
+    # for more details about the fields of each point type and their data refer
+    # to the following header files:
+    # - ouster_ros/os_point.h
+    # - ouster_ros/sensor_point_types.h
+    # - ouster_ros/common_point_types.h.
     point_type: original

ouster-ros/include/ouster_ros/os_point.h

@@ -21,7 +21,7 @@ namespace ouster_ros {
 // active udp lidar profile.
 struct EIGEN_ALIGN16 _Point {
     PCL_ADD_POINT4D;
-    float intensity;        // equivalent signal
+    float intensity;        // equivalent to signal
     uint32_t t;
     uint16_t reflectivity;
     uint16_t ring;          // equivalent to channel

ouster-ros/src/point_cloud_compose.h

@@ -94,8 +94,8 @@ constexpr auto make_lidar_scan_tuple(const ouster::LidarScan& ls) {
 /**
  * @brief copies field values from LidarScan fields combined as a tuple into the
  * the corresponding elements of the input point pt.
- * @param[in,out] pt
- * @param[in] tp
+ * @param[out] pt point to copy values into.
+ * @param[in] tp tuple containing arrays to copy LidarScan field values from.
  * @param[in] idx index of the point to be copied.
  * @remark this method is to be used mainly with sensor native point types.
  */