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SW-6906: publish sensor telemetry in ouster ros #413

Merged
merged 10 commits into from
Jan 18, 2025
Merged

SW-6906: publish sensor telemetry in ouster ros #413

merged 10 commits into from
Jan 18, 2025

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Samahu
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@Samahu Samahu commented Jan 15, 2025 •
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Summary of Changes

  • Define a new telemetry message and emit (it from a live sensor or bag file or pcap)
  • Always set timestamps in the PointCloud even for invalid points
  • Code refactor for LidarPacketHandler

TODO(s)

  • Support emitting Telemetry topic in replay mode (bag|pcap)
    • Probably in a separate PR

Validation

  • Launch a live sensor with telemetry enabled
roslaunch ouster_ros driver.launch sensor_hostname:=... proce_mask:="...|TLM"
  • Once sensor is connected, open a separate terminal launch, verify that the telemetry topic is up and running
rostopic echo /ouster/telemetry
  • Verify that the telemetry messages are being sent at the same rate as the raw packets topic
rostopic hz /ouster/telemetry

@Samahu Samahu added the enhancement New feature or request label Jan 15, 2025
@Samahu Samahu self-assigned this Jan 15, 2025
@Samahu Samahu marked this pull request as ready for review January 17, 2025 21:32
@Samahu Samahu merged commit c4b4f87 into master Jan 18, 2025
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@Samahu Samahu deleted the SW-6906-publish-sensor-telemetry-in-ouster-ros branch January 18, 2025 01:26
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Reviewers

@twslankard twslankard twslankard approved these changes

@celentes celentes Awaiting requested review from celentes

@chrisbayruns chrisbayruns Awaiting requested review from chrisbayruns

@akatumalla-ouster akatumalla-ouster Awaiting requested review from akatumalla-ouster

@matthew-lidar matthew-lidar Awaiting requested review from matthew-lidar

@diego-guridi diego-guridi Awaiting requested review from diego-guridi

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@Samahu Samahu

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2 participants
@Samahu @twslankard