Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

Author: Samahu

CHANGELOG.rst

@@ -19,6 +19,8 @@ Changelog
 * Add a padding-free point type of ``PointXYZI`` under ``ouster_ros`` namespace contrary to the pcl
   version ``pcl::PointXYZI`` for bandwith sensitive applications.
 * [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
+* Introduce a new param ``v_reduction`` that allows reducing the number of beams count of the published
+  point cloud
 
 
 ouster_ros v0.13.2

ouster-ros/config/driver_params.yaml

@@ -117,6 +117,8 @@ ouster/os_driver:
     min_range: 0.0
     # max_range[optional]: maximum lidar range to consider (meters).
     max_range: 1000.0
+    # v_reduction[optional]: vertical beam reduction; available options: {1, 2, 4, 8, 16}.
+    v_reduction: 1
     # min_scan_valid_columns_ratio[optional]: The minimum ratio of valid columns for
     # processing the LidarScan [0, 1]. default is 0%
     min_scan_valid_columns_ratio: 0.0

ouster-ros/config/metadata-qos-override.yaml

@@ -3,3 +3,9 @@
   depth: 1
   reliability: reliable
   durability: transient_local
+
+/os_node/metadata:
+  history: keep_last
+  depth: 1
+  reliability: reliable
+  durability: transient_local

ouster-ros/launch/record.composite.launch.xml

@@ -115,6 +115,9 @@
   <arg name="min_scan_valid_columns_ratio" default="0.0"
     description="The minimum ratio of valid columns for processing the LidarScan [0, 1]"/>
 
+  <arg name="v_reduction" default="1" description="vertical beam reduction;
+   available options: {1, 2, 4, 8, 16}"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
@@ -156,6 +159,7 @@
         <param name="destagger" value="$(var destagger)"/>
         <param name="min_range" value="$(var min_range)"/>
         <param name="max_range" value="$(var max_range)"/>
+        <param name="v_reduction" value="$(var v_reduction)"/>
         <param name="min_scan_valid_columns_ratio" value="$(var min_scan_valid_columns_ratio)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">

ouster-ros/launch/replay.composite.launch.xml

@@ -80,6 +80,9 @@
   <arg name="min_scan_valid_columns_ratio" default="0.0"
     description="The minimum ratio of valid columns for processing the LidarScan [0, 1]"/>
 
+  <arg name="v_reduction" default="1" description="vertical beam reduction;
+   available options: {1, 2, 4, 8, 16}"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node if="$(var _use_metadata_file)" pkg="ouster_ros" exec="os_replay" name="os_replay" output="screen">
@@ -88,9 +91,6 @@
     </node>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <remap from="/os_node/metadata" to="/ouster/metadata"/>
-        <remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
-        <remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
         <param name="sensor_frame" value="$(var sensor_frame)"/>
         <param name="lidar_frame" value="$(var lidar_frame)"/>
         <param name="imu_frame" value="$(var imu_frame)"/>
@@ -106,11 +106,10 @@
         <param name="destagger" value="$(var destagger)"/>
         <param name="min_range" value="$(var min_range)"/>
         <param name="max_range" value="$(var max_range)"/>
+        <param name="v_reduction" value="$(var v_reduction)"/>
         <param name="min_scan_valid_columns_ratio" value="$(var min_scan_valid_columns_ratio)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">
-        <remap from="/os_node/metadata" to="/ouster/metadata"/>
-        <remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
         <param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
         <param name="proc_mask" value="$(var proc_mask)"/>
       </composable_node>
@@ -127,7 +126,13 @@
   <executable if="$(var _use_bag_file_name)" output="screen"
     launch-prefix="bash -c 'sleep $(var play_delay); $0 $@'"
     cmd="ros2 bag play $(var bag_file) --clock $(var _loop)
-      --rate $(var play_rate) --qos-profile-overrides-path
-      $(find-pkg-share ouster_ros)/config/metadata-qos-override.yaml"/>
+      --rate $(var play_rate)
+      --remap
+        /os_node/metadata:=/ouster/metadata
+        /os_node/imu_packets:=/ouster/imu_packets
+        /os_node/lidar_packets:=/ouster/lidar_packets
+      --qos-profile-overrides-path
+      $(find-pkg-share ouster_ros)/config/metadata-qos-override.yaml
+      "/>
 
 </launch>

ouster-ros/launch/replay_pcap.launch.xml

@@ -76,6 +76,9 @@
   <arg name="min_scan_valid_columns_ratio" default="0.0"
     description="The minimum ratio of valid columns for processing the LidarScan [0, 1]"/>
 
+  <arg name="v_reduction" default="1" description="vertical beam reduction;
+   available options: {1, 2, 4, 8, 16}"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node if="$(var _use_metadata_file)" pkg="ouster_ros" exec="os_pcap" name="os_pcap"
@@ -103,6 +106,7 @@
         <param name="destagger" value="$(var destagger)"/>
         <param name="min_range" value="$(var min_range)"/>
         <param name="max_range" value="$(var max_range)"/>
+        <param name="v_reduction" value="$(var v_reduction)"/>
         <param name="min_scan_valid_columns_ratio" value="$(var min_scan_valid_columns_ratio)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image">

ouster-ros/launch/sensor.composite.launch.xml

@@ -111,6 +111,9 @@
   <arg name="min_scan_valid_columns_ratio" default="0.0"
     description="The minimum ratio of valid columns for processing the LidarScan [0, 1]"/>
 
+  <arg name="v_reduction" default="1" description="vertical beam reduction;
+   available options: {1, 2, 4, 8, 16}"/>
+
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
     <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
@@ -147,6 +150,7 @@
       <param name="destagger" value="$(var destagger)"/>
       <param name="min_range" value="$(var min_range)"/>
       <param name="max_range" value="$(var max_range)"/>
+      <param name="v_reduction" value="$(var v_reduction)"/>
       <param name="min_scan_valid_columns_ratio"
              value="$(var min_scan_valid_columns_ratio)"/>
     </node>

ouster-ros/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.13.8</version>
+  <version>0.13.9</version>
   <description>Ouster ROS2 driver</description>
   <maintainer email="oss@ouster.io">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

ouster-ros/src/os_cloud_node.cpp

@@ -65,7 +65,7 @@ class OusterCloud : public OusterProcessingNodeBase {
         declare_parameter("destagger", true);
         declare_parameter("min_range", 0.0);
         declare_parameter("max_range", 1000.0);
-        declare_parameter("rows_step", 1);
+        declare_parameter("v_reduction", 1);
         declare_parameter("min_scan_valid_columns_ratio", 0.0);
     }
 
@@ -149,12 +149,19 @@ class OusterCloud : public OusterProcessingNodeBase {
             // convert to millimeters
             uint32_t min_range = impl::ulround(min_range_m * 1000);
             uint32_t max_range = impl::ulround(max_range_m * 1000);
-            auto rows_step = get_parameter("rows_step").as_int();
+            auto v_reduction = get_parameter("v_reduction").as_int();
+            auto valid_values = std::vector<int>{1, 2, 4, 8, 16};
+            if (std::find(valid_values.begin(), valid_values.end(), v_reduction) == valid_values.end()) {
+                RCLCPP_FATAL_STREAM(get_logger(),
+                    "v_reduction needs to be one of the values: " << valid_values);
+                throw std::runtime_error("invalid v_reduction value!");
+            }
+
             processors.push_back(
                 PointCloudProcessorFactory::create_point_cloud_processor(point_type,
                     info, tf_bcast.point_cloud_frame_id(),
                     tf_bcast.apply_lidar_to_sensor_transform(),
-                    organized, destagger, min_range, max_range, rows_step,
+                    organized, destagger, min_range, max_range, v_reduction,
                     [this](PointCloudProcessor_OutputType msgs) {
                         for (size_t i = 0; i < msgs.size(); ++i)
                             lidar_pubs[i]->publish(*msgs[i]);

ouster-ros/src/os_driver_node.cpp

@@ -46,7 +46,7 @@ class OusterDriver : public OusterSensor {
         declare_parameter("destagger", true);
         declare_parameter("min_range", 0.0);
         declare_parameter("max_range", 1000.0);
-        declare_parameter("rows_step", 1);
+        declare_parameter("v_reduction", 1);
         declare_parameter("min_scan_valid_columns_ratio", 0.0);
     }
 
@@ -117,12 +117,19 @@ class OusterDriver : public OusterSensor {
             // convert to millimeters
             uint32_t min_range = impl::ulround(min_range_m * 1000);
             uint32_t max_range = impl::ulround(max_range_m * 1000);
-            auto rows_step = get_parameter("rows_step").as_int();
+            auto v_reduction = get_parameter("v_reduction").as_int();
+            auto valid_values = std::vector<int>{1, 2, 4, 8, 16};
+            if (std::find(valid_values.begin(), valid_values.end(), v_reduction) == valid_values.end()) {
+                RCLCPP_FATAL_STREAM(get_logger(),
+                    "v_reduction needs to be one of the values: " << valid_values);
+                throw std::runtime_error("invalid v_reduction value!");
+            }
+
             processors.push_back(
                 PointCloudProcessorFactory::create_point_cloud_processor(point_type,
                     info, tf_bcast.point_cloud_frame_id(),
                     tf_bcast.apply_lidar_to_sensor_transform(),
-                    organized, destagger, min_range, max_range, rows_step,
+                    organized, destagger, min_range, max_range, v_reduction,
                     [this](PointCloudProcessor_OutputType msgs) {
                         for (size_t i = 0; i < msgs.size(); ++i)
                             lidar_pubs[i]->publish(*msgs[i]);