Add parameter to os_cloud_node to control the sensor frames publishing

ouster-ros/config/parameters.yaml

@@ -1,18 +1,19 @@
 ouster/os_sensor:
   ros__parameters:
-    sensor_hostname: ''
-    udp_dest: ''
-    mtp_dest: ''
+    sensor_hostname: ""
+    udp_dest: ""
+    mtp_dest: ""
     mtp_main: false
-    lidar_mode: ''
-    timestamp_mode: ''
-    udp_profile_lidar: ''
-    metadata: ''
+    lidar_mode: ""
+    timestamp_mode: ""
+    udp_profile_lidar: ""
+    metadata: ""
     lidar_port: 0
     imu_port: 0
 ouster/os_cloud:
   ros__parameters:
-    sensor_frame: 'os_sensor'
-    lidar_frame: 'os_lidar'
-    imu_frame: 'os_imu'
-    timestamp_mode: ''  # this value needs to match os_sensor/timestamp_mode
+    sensor_frame: "os_sensor"
+    lidar_frame: "os_lidar"
+    imu_frame: "os_imu"
+    timestamp_mode: "" # this value needs to match os_sensor/timestamp_mode
+    publish_sensor_frames: true

ouster-ros/launch/ouster.launch.py

@@ -0,0 +1,103 @@
+#!/usr/bin/python3
+# Copyright 2023 Ouster, Inc.
+
+import lifecycle_msgs.msg
+from launch import LaunchDescription
+from launch.actions import EmitEvent, LogInfo, RegisterEventHandler
+from launch.events import matches_action
+from launch_ros.actions import LifecycleNode, Node
+from launch_ros.event_handlers import OnStateTransition
+from launch_ros.events.lifecycle import ChangeState
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+def generate_launch_description():
+
+    NAMESPACE_ARG = DeclareLaunchArgument(
+    "namespace",
+    description="(str) namespace that will contain the pipeline nodes and topics",
+    default_value="none",
+    )
+
+    NAMESPACE = LaunchConfiguration("namespace", default="none")
+
+    PARAMS_ARG = DeclareLaunchArgument(
+    "params",
+    description="(str) Path to the yaml file containing the parameters for the nodes in "
+    "the launch file.",
+    default_value="",
+    )
+
+    PARAMS = LaunchConfiguration("params", default="")
+
+    os_sensor = LifecycleNode(
+        package="ouster_ros",
+        executable="os_sensor",
+        name="os_sensor",
+        namespace=NAMESPACE,
+        parameters=[PARAMS],
+        respawn=True,
+        respawn_delay=4,
+    )
+
+    sensor_configure_event = EmitEvent(
+        event=ChangeState(
+            lifecycle_node_matcher=matches_action(os_sensor),
+            transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+        )
+    )
+
+    sensor_activate_event = RegisterEventHandler(
+        OnStateTransition(
+            target_lifecycle_node=os_sensor,
+            goal_state="inactive",
+            entities=[
+                LogInfo(msg="os_sensor activating..."),
+                EmitEvent(
+                    event=ChangeState(
+                        lifecycle_node_matcher=matches_action(os_sensor),
+                        transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE,
+                    )
+                ),
+            ],
+            handle_once=True,
+        )
+    )
+
+    os_cloud = Node(
+        package="ouster_ros",
+        executable="os_cloud",
+        name="os_cloud",
+        namespace=NAMESPACE,
+        parameters=[PARAMS],
+        respawn=True,
+        respawn_delay=4,
+    )
+
+    os_image = Node(
+        package="ouster_ros",
+        executable="os_image",
+        name="os_image",
+        namespace=NAMESPACE,
+        parameters=[PARAMS],
+        remappings=[
+            ([NAMESPACE, "/signal_image"], [NAMESPACE, "/intensity_image"]),
+            ([NAMESPACE, "/signal_image2"], [NAMESPACE, "/intensity_image2"]),
+            ([NAMESPACE, "/nearir_image"], [NAMESPACE, "/ambient_image"]),
+            ([NAMESPACE, "/nearir_image2"], [NAMESPACE, "/ambient_image2"]),
+        ],
+        respawn=True,
+        respawn_delay=4,
+    )
+
+    return LaunchDescription(
+        [
+            NAMESPACE_ARG,
+            PARAMS_ARG,
+            os_sensor,
+            os_cloud,
+            os_image,
+            sensor_configure_event,
+            sensor_activate_event,
+        ]
+    )

ouster-ros/src/os_cloud_node.cpp

@@ -95,6 +95,7 @@ class OusterCloud : public OusterProcessingNodeBase {
         declare_parameter<std::string>("lidar_frame", "os_lidar");
         declare_parameter<std::string>("imu_frame", "os_imu");
         declare_parameter<std::string>("timestamp_mode", "");
+        declare_parameter<bool>("publish_sensor_frames", true);
     }
 
     void parse_parameters() {
@@ -104,6 +105,8 @@ class OusterCloud : public OusterProcessingNodeBase {
 
         auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
         use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
+
+        publish_sensor_frames = get_parameter("publish_sensor_frames").as_bool();
     }
 
     static double compute_scan_col_ts_spacing_ns(sensor::lidar_mode ld_mode) {
@@ -118,7 +121,10 @@ class OusterCloud : public OusterProcessingNodeBase {
         RCLCPP_INFO(get_logger(),
                     "OusterCloud: retrieved new sensor metadata!");
         info = sensor::parse_metadata(metadata_msg->data);
-        send_static_transforms();
+        if (publish_sensor_frames)
+        {
+            send_static_transforms();
+        }
         n_returns = get_n_returns();
         create_lidarscan_objects();
         compute_scan_ts = [this](const auto& ts_v) {
@@ -349,6 +355,8 @@ class OusterCloud : public OusterProcessingNodeBase {
     std::string imu_frame;
     std::string lidar_frame;
 
+    bool publish_sensor_frames;
+
     tf2_ros::StaticTransformBroadcaster tf_bcast;
 
     bool use_ros_time;