common.launch

<launch>

  <arg name="ouster_ns" doc="Override the default namespace of all ouster nodes"/>
  <arg name="viz" doc="whether to run a rviz"/>
  <arg name="rviz_config" doc="optional rviz config file"/>

  <arg name="tf_prefix" doc="namespace for tf transforms"/>
  <arg name="sensor_frame" doc="
    sets name of choice for the sensor_frame tf frame, value can not be empty"/>
  <arg name="lidar_frame" doc="
    sets name of choice for the os_lidar tf frame, value can not be empty"/>
  <arg name="imu_frame" doc="
    sets name of choice for the os_imu tf frame, value can not be empty"/>
  <arg name="point_cloud_frame" doc="
    when this flag is set to True, the driver will broadcast the TF transforms
    for the imu/sensor/lidar frames. Prevent the driver from broadcasting TF transforms by
    setting this parameter to False.."/>
  <arg name="pub_static_tf" doc="
    which frame to be used when publishing PointCloud2 or LaserScan messages.
    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
    would set lidar_frame to be the frame used when publishing these messages."/>

  <arg name="timestamp_mode" doc="method used to timestamp measurements"/>
  <arg name="ptp_utc_tai_offset" doc="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/>

  <arg name="dynamic_transforms_broadcast" doc="static or dynamic transforms broadcast"/>
  <arg name="dynamic_transforms_broadcast_rate"
    doc="set the rate (Hz) of broadcast when using dynamic broadcast; minimum value is 1 Hz"/>

  <arg name="_no_bond" default="" doc="set the no-bond option when loading nodelets"/>

  <arg name="proc_mask" doc="
    use any combination of the 4 flags to enable or disable specific processors"/>

  <arg name="scan_ring" doc="
    use this parameter in conjunction with the SCAN flag
    and choose a value the range [0, sensor_beams_count)"/>

  <arg name="point_type" doc="point type for the generated point cloud;
   available options: {
    original,
    native,
    xyz,
    xyzi,
    xyzir
    }"/>

  <arg name="organized" doc="generate an organzied point cloud"/>
  <arg name="destagger" doc="enable or disable point cloud destaggering"/>

  <arg name="min_range" doc="minimum lidar range to consider (meters)"/>
  <arg name="max_range" doc="maximum lidar range to consider (meters)"/>

  <arg name="min_scan_valid_columns_ratio"
    doc="The minimum ratio of valid columns for processing the LidarScan [0, 1]"/>

  <group ns="$(arg ouster_ns)">
    <node pkg="nodelet" type="nodelet" name="os_cloud_node"
      output="screen" required="true"
      args="load ouster_ros/OusterCloud os_nodelet_mgr $(arg _no_bond)">
      <param name="~/tf_prefix" type="str" value="$(arg tf_prefix)"/>
      <param name="~/sensor_frame" value="$(arg sensor_frame)"/>
      <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
      <param name="~/imu_frame" value="$(arg imu_frame)"/>
      <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
      <param name="~/pub_static_tf" value="$(arg pub_static_tf)"/>
      <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
      <param name="~/dynamic_transforms_broadcast" type="bool"
        value="$(arg dynamic_transforms_broadcast)"/>
      <param name="~/dynamic_transforms_broadcast_rate" type="double"
        value="$(arg dynamic_transforms_broadcast_rate)"/>
      <param name="~/proc_mask" value="$(arg proc_mask)"/>
      <param name="~/scan_ring" value="$(arg scan_ring)"/>
      <param name="~/ptp_utc_tai_offset" type="double" value="$(arg ptp_utc_tai_offset)"/>
      <param name="~/point_type" value="$(arg point_type)"/>
      <param name="~/organized" value="$(arg organized)"/>
      <param name="~/destagger" value="$(arg destagger)"/>
      <param name="~/min_range" value="$(arg min_range)"/>
      <param name="~/max_range" value="$(arg max_range)"/>
      <param name="~/min_scan_valid_columns_ratio"
        value="$(arg min_scan_valid_columns_ratio)"/>
    </node>
  </group>

  <group ns="$(arg ouster_ns)">
    <node pkg="nodelet" type="nodelet" name="img_node"
      output="screen" required="true"
      args="load ouster_ros/OusterImage os_nodelet_mgr $(arg _no_bond)">
      <param name="~/proc_mask" value="$(arg proc_mask)"/>
    </node>
  </group>

  <!-- TODO: how can/should we handle the change of default ouster namespace in RVIZ? -->
  <node if="$(arg viz)"
    pkg="rviz" name="rviz" type="rviz"
    output="screen" required="false"
    launch-prefix="bash -c 'sleep 5; $0 $@' "
    args="-d $(arg rviz_config)"/>

</launch>