Shutdown when can not connect to sensor on startup in ROS2 (foxy/galactic) #214
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ROS2 driver MVP (beta release)
* Update to the latest ouster sdk * Forward multicast funcitonality + Other improvements and fixes * Add service_msgs dependency to package.xml * Correct sensor_mtp.launch for ros2 launch file format * Move to most recent SDK update * Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan * Launch file rename and README corrections
…ith latched topics (#102) * Working port of latched metadata topic on ros2 * Update replay and record launch files to providing metadata file an optional parameter * Remove extra white space in replay record command * Undo changes to the metadata-qos-override * minor code syntax improvements * Add missing metadata topic when bag file isn't specified * Use concise syntax and formatting * Reverse logic for easier read * Apply node transition if it exists
…parameters (#115) * deprecate tf_prefix from os_cloud (#96) Co-authored-by: Guillaume Doisy <[email protected]> * Squashed commit of the following: commit 6280bfa1178bdee4fe695cb4752efd5ff15279db Author: Ussama Naal <[email protected]> Date: Fri Apr 28 07:54:34 2023 -0700 Merge branch 'deprecate_tf_prefix' commit 35f2fd2 Author: Guillaume Doisy <[email protected]> Date: Mon Apr 3 18:12:44 2023 +0100 deprecate tf_prefix from os_cloud * Update ChangeLog and package version * Propagate the parameters to launch files * Add a TODO note --------- Co-authored-by: Guillaume Doisy <[email protected]>
…ocess (#108) * Remove the use of static vars within components * Resolve conflicts and update changelog and version * Fix a typo 'instance'
…124) * use static tf broadcaster for ros2 (#112) * use separate params for tf frames * send static transforms once * Disable static transform publishers and update changelog and package version * Disable rviz static transform publisher * Remove rviz static transform publisher hack * Remove left out variables --------- Co-authored-by: Adam Aposhian <[email protected]>
#140) * Switch from using ROS timers to thread for polling * Specify param defaults for non-required params
* Factoring out Imu and Lidar packets handling * Added os_driver which combines os_sensor and os_cloud + Added required launch files + Better abstraction of classes + Simplified threading logic + Added thread safe implemention of ring buffer (not hooked yet) * Move down pragma once in the handlers * Adding unit tests for the ThreadSafeRingBuffer * Add one more case to the unit test of ThreadSafeRingBuffer * Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver * Add an option to select the point_cloud frame * Keep transforms in Lidar Frame by default with option to switch * Formatting os_sensor and os_driver * Provide support for parsing the community driver params file with approprite launch file * Factor out tf transforms broadcast * Formatting imu and lidar packet handlers * Fix build issue * Incorporate LaserScan message composition * Refactor a bit and add the ability to process and publish point clouds and laser scans * Restor os_cloud_node ability to process point clouds * Parse proc_mask and hook to launch files and config * Add support for the selecting IMU + create topics/subs when their respective flags enabled * Reduce sync operations + restore sensor reset/reactivation * Add the ability to override current qos settings * Add minor note * More detailed explanation about the IMG node * Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files * Expose use_system_default_qos parameter to xml launch file and use proper defaults * Update minimal readme file and utilize os_driver by default + add proc_mask to xml file + Remove experminal marker from set_config and reset ros services * Update CHANGELOG.rst and package version * Apply && to accepted method of ThreadSafeRingBuffer + nits and code formatting * Add missing parameter declaration * Re-formatting CHANGELOG a bit * Added ImageProcessor to support IMG flag + Define new argument scan_ring * Expose scan_ring param and update relevant params description * Added notes to size(), empty(), full() * remove deprecated methods + naming nits * Update ChangeLog + Fix load_metadata_from_file * Try out building against Iron + revise sensor_mtp.launch * Correct the params file name + document params * Carry over fixes from foxy branch * Update README.md to mention compatibilty mode
* Separately initialize vector elements * Update changelog and package version * Properly check for the write_text_to_file success
…er-ros-foxy (#163) * Initialize point_cloud_frame with an empty string + and expose point_cloud_frame through launch xml files + Remove unused/duplicate param definitions + Update descriptions * Correct the name of the node to be activated for merged node
* Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements * Update launch file name within the dockerfile * Update CHANGELOG.txt * Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs * Use angle brackets for external headers * Remove unused library include * Remove unused launch params in sensor_mtp.launch * Fix the table of contents
* Quick implementtion of cloud destaggering * Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros * Update changelog and version * Reformat changelog
* Implemented UTC/TAI offset for the PTP timestamp mode * Make sure all the timestamp values of LidarScan are utc corrected * Modify timestamp values before producing a PointCloud * Remove no longer needed comment from the Dockerfile * Destagger timestamp when generating destagger point clouds
…-to-connect-to-lidar' into ROS-209-process-hangs-on-failure-to-connect-to-lidar-foxy
Samahu
changed the title
bexcite
approved these changes
Sep 12, 2023
Samahu
deleted the
ROS-209-process-hangs-on-failure-to-connect-to-lidar-foxy
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Related Issues & PRs
Summary of Changes
Validation
While sensor is properly wired launch ouster_ros throughdriver.launch.pyorsensor.independent.launch.pyVerify the node configures and connects to the sensor as normalDisconnect the sensor and then launch ouster_ros throughdriver.launch.pyorsensor.independent.launch.pyVerify the node fails to connect and then shuts down as expected with an error message.