record.launch

<launch>

  <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
  <arg name="sensor_hostname" doc="hostname or IP in dotted decimal form of the sensor"/>
  <arg name="udp_dest" default=" " doc="hostname or IP where the sensor will send data packets"/>
  <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
  <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
  <arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
    LEGACY,
    RNG19_RFL8_SIG16_NIR16,
    RNG15_RFL8_NIR8
    RNG19_RFL8_SIG16_NIR16_DUAL,
    FUSA_RNG15_RFL8_NIR8_DUAL
    }"/>
  <arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
    512x10,
    512x20,
    1024x10,
    1024x20,
    2048x10,
    4096x5
    }"/>
  <arg name="timestamp_mode" default=" " doc="method used to timestamp measurements; possible values: {
    TIME_FROM_INTERNAL_OSC,
    TIME_FROM_SYNC_PULSE_IN,
    TIME_FROM_PTP_1588,
    TIME_FROM_ROS_TIME
    }"/>
  <arg name="ptp_utc_tai_offset" default="-37.0"
    doc="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/>
  <arg name="metadata" default="" doc="path to write metadata file when receiving sensor data"/>
  <arg name="bag_file" default="" doc="file name to use for the recorded bag file"/>
  <arg name="viz" default="true" doc="whether to run a rviz"/>
  <arg name="rviz_config" default="$(find ouster_ros)/config/viz.rviz" doc="optional rviz config file"/>

  <arg name="tf_prefix" default=" " doc="namespace for tf transforms"/>
  <arg name="sensor_frame" default="os_sensor"
    doc="sets name of choice for the sensor_frame tf frame, value can not be empty"/>
  <arg name="lidar_frame" default="os_lidar"
    doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
  <arg name="imu_frame" default="os_imu"
    doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
  <arg name="point_cloud_frame" default=" "
    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="pub_static_tf" default="true" 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="dynamic_transforms_broadcast" default="false"
    doc="static or dynamic transforms broadcast"/>
  <arg name="dynamic_transforms_broadcast_rate" default="1.0"
    doc="set the rate (Hz) of broadcast when using dynamic broadcast; minimum value is 1 Hz"/>

  <arg name="proc_mask" default="IMG|PCL|IMU|SCAN|TLM" doc="
    The IMG flag here is not supported and does not affect anything,
    to disable image topics you would need to omit the os_image node
    from the launch file"/>

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

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

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

  <arg name="min_range" default="0.0"
    doc="minimum lidar range to consider (meters)"/>
  <arg name="max_range" default="10000.0"
    doc="maximum lidar range to consider (meters)"/>

  <arg name="azimuth_window_start" default="0" doc="azimuth window start,
    values range [0, 360000] millidegrees"/>
  <arg name="azimuth_window_end" default="360000" doc="azimuth window end,
    values range [0, 360000] millidegrees"/>

  <arg name="persist_config" default="false"
    doc="request the sensor to persist settings"/>

  <arg name="attempt_reconnect" default="false"
    doc="attempting to reconnect to the sensor after connection loss or
    sensor powered down"/>
  <arg name="dormant_period_between_reconnects" default="1.0"
    doc="wait time in seconds between reconnection attempts"/>
  <arg name="max_failed_reconnect_attempts" default="2147483647"
    doc="maximum number of attempts trying to communicate with the sensor.
         Counter resets upon successful connection"/>

  <arg name="min_scan_valid_columns_ratio" default="0.0"
    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_nodelet_mgr"
      output="screen" required="true" args="manager"/>
  </group>

  <group ns="$(arg ouster_ns)">
    <node pkg="nodelet" type="nodelet" name="os_node"
      output="screen" required="true"
      launch-prefix="bash -c 'sleep 1; $0 $@' "
      args="load ouster_ros/OusterSensor os_nodelet_mgr">
      <param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
      <param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
      <param name="~/lidar_port" type="int" value="$(arg lidar_port)"/>
      <param name="~/imu_port" type="int" value="$(arg imu_port)"/>
      <param name="~/udp_profile_lidar" type="str" value="$(arg udp_profile_lidar)"/>
      <param name="~/lidar_mode" type="str" value="$(arg lidar_mode)"/>
      <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
      <param name="~/ptp_utc_tai_offset" type="double"
        value="$(arg ptp_utc_tai_offset)"/>
      <param name="~/metadata" type="str" value="$(arg metadata)"/>
      <param name="~/proc_mask" type="str" value="$(arg proc_mask)"/>
      <param name="~/azimuth_window_start" value="$(arg azimuth_window_start)"/>
      <param name="~/azimuth_window_end" value="$(arg azimuth_window_end)"/>
      <param name="~/persist_config" value="$(arg persist_config)"/>
      <param name="~/attempt_reconnect" value="$(arg attempt_reconnect)"/>
      <param name="~/dormant_period_between_reconnects"
             value="$(arg dormant_period_between_reconnects)"/>
      <param name="~/max_failed_reconnect_attempts"
             value="$(arg max_failed_reconnect_attempts)"/>
    </node>
  </group>

  <include file="$(find ouster_ros)/launch/common.launch">
    <arg name="ouster_ns" value="$(arg ouster_ns)"/>
    <arg name="viz" value="$(arg viz)"/>
    <arg name="rviz_config" value="$(arg rviz_config)"/>
    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
    <arg name="sensor_frame" value="$(arg sensor_frame)"/>
    <arg name="lidar_frame" value="$(arg lidar_frame)"/>
    <arg name="imu_frame" value="$(arg imu_frame)"/>
    <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
    <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
    <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
    <arg name="dynamic_transforms_broadcast"
      value="$(arg dynamic_transforms_broadcast)"/>
    <arg name="dynamic_transforms_broadcast_rate"
      value="$(arg dynamic_transforms_broadcast_rate)"/>
    <arg name="proc_mask" value="$(arg proc_mask)"/>
    <arg name="scan_ring" value="$(arg scan_ring)"/>
    <arg name="point_type" value="$(arg point_type)"/>
    <arg name="organized" value="$(arg organized)"/>
    <arg name="destagger" value="$(arg destagger)"/>
    <arg name="min_range" value="$(arg min_range)"/>
    <arg name="max_range" value="$(arg max_range)"/>
    <arg name="~/min_scan_valid_columns_ratio"
        value="$(arg min_scan_valid_columns_ratio)"/>
  </include>

  <arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>
  <arg name="_topics_to_record" value="
    /$(arg ouster_ns)/imu_packets
    /$(arg ouster_ns)/lidar_packets
    /$(arg ouster_ns)/metadata
  "/>

  <node if="$(arg _use_bag_file_name)" pkg="rosbag" type="record"
    name="rosbag_record_sensor" output="screen" required="true"
    args="record -O $(arg bag_file) $(arg _topics_to_record)"/>

  <node unless="$(arg _use_bag_file_name)" pkg="rosbag" type="record"
    name="rosbag_record_sensor" output="screen" required="true"
    args="record $(arg _topics_to_record)"/>

</launch>