Update README.md and CHANGELOG

CHANGELOG.rst

@@ -11,6 +11,8 @@ Changelog
 * [BUGFIX]: Implement lock free ring buffer with throttling to reduce partial frames
 * add support for FUSA udp profile ``FUSA_RNG15_RFL8_NIR8_DUAL``.
 * [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.
 
 ouster_ros v0.12.0
 ==================

README.md

@@ -25,6 +25,7 @@
       - [Sensor Mode](#sensor-mode)
       - [Recording Mode](#recording-mode)
       - [Replay Mode](#replay-mode)
+        - [PCAP Replay Mode](#pcap-replay-mode)
       - [Multicast Mode (experimental)](#multicast-mode-experimental)
     - [Invoking Services](#invoking-services)
       - [GetMetadata](#getmetadata)
@@ -100,7 +101,8 @@ sudo apt install -y         \
 > You may choose a different _ssl_ backend for the _curl_ library such as `libcurl4-gnutls-dev` or
 > `libcurl4-nss-dev`
 
-
+> **Note**  
+> To use the PCAP replay mode you need to have `libpcap-dev` installed
 
 ### Windows
 TBD
@@ -190,6 +192,15 @@ ros2 launch ouster_ros replay.launch.xml    \
     metadata:=<json file name>              # optional if bag file has /metadata topic
 ```
 
+##### PCAP Replay Mode
+> Note
+> To use this feature you need to compile the driver with `BUILD_PCAP` option enabled
+```bash
+ros2 launch ouster_ros replay_pcap.launch.xml   \
+    pcap_file:=<path to ouster pcap file>       \
+    metadata:=<json file name>              # required
+```
+
 #### Multicast Mode (experimental)
 The multicast launch mode supports configuring the sensor to broadcast lidar packets from the same
 sensor (live) to multiple active clients. You initiate this mode by using `sensor_mtp.launch.xml`

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>0.12.4</version>
+  <version>0.12.5</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>