Parameter for Controlling PCL PointType

[generush]

Hello,

Thanks for the Ouster driver, it's works well! I would like to make one request, which is to my knowlesge, the user does not have any control over what fields the Ouster publishes. The driver will always publish X, Y, Z, intensity, t, reflectivity, ring, noise, and range. This is a lot of data that to most users is not necessary. In my specific application, I want XYZI because I am fusing the point cloud with XYZI point clouds from other depth sensors onboard a robot. Therefore, having the same PointType is convenient. I can envision other folks wanting to disable fields they don't need to reduce the amount of computational/communications resources required to run the driver.

In order to resolve this issue, I had to make changes to the driver source code (ouster_ros/include/ouster_ros/point_os1.h), which I would prefer to not do.

Thanks!

Gene

[dmitrig]

Thanks for the feedback! We're looking into making the sensor output more configurable, including the ability to turn off unneeded fields, though we don't have an eta available.

[Samahu]

@generush PR #216 should implement this feature, feel free to review and provide feedback before it gets merged. It is currently targeting ros2 only but will be back-ported to ROS1 afterwards.