Param min packets in cloud

[ovaag]

Related Issues & PRs

#265

Summary of Changes

This adds a parameter the user can alter in order to discard clouds that consists of x amount of lidar packets.

Validation

I have an example bag where we experienced bad connectivity to lidar, resulting in dropped lidar packets.

Validated this PR by doing the following with replay of named bag:

Set param to 0, see that behaviour is as before:

2023-11-23.10-00-41.mp4

Set param to 500 (I'm in lidar_mode 512x64)

2023-11-23.13-33-05.mp4

corresponding terminal output:

[ovaag]

Note: My original implementation here was d41c11e and 0aab35a.

I changed my approach to checking the condition in the nodelet, which felt cleaner.

Think the latter approach also will scale nicely if a user want to publish lidar_scan metadata e.g. shot_limiting or thermal shutdown status as this can now just be added to the OutputType struct

lmk what you think @Samahu

[Samahu]

I had a brief look at your PR 👀 but the way I see it, it would be much better to implement this filter at the LidarPacketHandler level rather than having to process this unwanted scan and pass it to all registered processors and then drop all the byproducts before publishing.

Also what is the use case to have this parameter as a number rather than a boolean? Do you have a certain threshold where you actually use to discard the frame or do you usually set this value to 1?