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Support FUSA dual returns udp profile [NOETIC] #334

Merged
merged 10 commits into from
Jun 3, 2024
Merged

Support FUSA dual returns udp profile [NOETIC] #334

merged 10 commits into from
Jun 3, 2024

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Samahu
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@Samahu Samahu commented May 28, 2024 •
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Summary of Changes

  • Add support for the FUSA profile
  • Set xyz values of individual points in the PointCloud to NaNs when range is zero

Validation

  • Using a rev7 sensor with FW 3.1+, run the following command:
roslaunch ouster_ros sensor.launch \
  sensor_hostname:=$SENSOR_IP \
  udp_profile_lidar:=FUSA_RNG15_RFL8_NIR8_DUAL

@Samahu Samahu added the enhancement New feature or request label May 28, 2024
@Samahu Samahu self-assigned this May 28, 2024
@Samahu Samahu mentioned this pull request May 29, 2024
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@Samahu Samahu requested a review from matthew-lidar May 31, 2024 17:50
matthew-lidar
matthew-lidar reviewed May 31, 2024
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Looks good! Just a few little things.

CHANGELOG.rst Outdated Show resolved Hide resolved
src/point_cloud_processor_factory.h Show resolved Hide resolved
include/ouster_ros/sensor_point_types.h Show resolved Hide resolved
include/ouster_ros/sensor_point_types.h Show resolved Hide resolved
@Samahu Samahu marked this pull request as ready for review May 31, 2024 19:09
@Samahu Samahu merged commit af70a81 into master Jun 3, 2024
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@Samahu Samahu deleted the support_fusa_dual_returns_profile branch June 3, 2024 17:02
@Samahu Samahu mentioned this pull request Jun 3, 2024
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@Samahu @matthew-lidar