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Add parameter to os_cloud_node to control the sensor frames publishing #153

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Add parameter to os_cloud_node to control the sensor frames publishing #153

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23 changes: 12 additions & 11 deletions ouster-ros/config/parameters.yaml
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Original file line number Diff line number Diff line change
@@ -1,18 +1,19 @@
ouster/os_sensor:
ros__parameters:
sensor_hostname: ''
udp_dest: ''
mtp_dest: ''
sensor_hostname: ""
udp_dest: ""
mtp_dest: ""
mtp_main: false
lidar_mode: ''
timestamp_mode: ''
udp_profile_lidar: ''
metadata: ''
lidar_mode: ""
timestamp_mode: ""
udp_profile_lidar: ""
metadata: ""
lidar_port: 0
imu_port: 0
ouster/os_cloud:
ros__parameters:
sensor_frame: 'os_sensor'
lidar_frame: 'os_lidar'
imu_frame: 'os_imu'
timestamp_mode: '' # this value needs to match os_sensor/timestamp_mode
sensor_frame: "os_sensor"
lidar_frame: "os_lidar"
imu_frame: "os_imu"
timestamp_mode: "" # this value needs to match os_sensor/timestamp_mode
publish_sensor_frames: true
10 changes: 9 additions & 1 deletion ouster-ros/src/os_cloud_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,7 @@ class OusterCloud : public OusterProcessingNodeBase {
declare_parameter<std::string>("lidar_frame", "os_lidar");
declare_parameter<std::string>("imu_frame", "os_imu");
declare_parameter<std::string>("timestamp_mode", "");
declare_parameter<bool>("publish_sensor_frames", true);
}

void parse_parameters() {
Expand All @@ -104,6 +105,8 @@ class OusterCloud : public OusterProcessingNodeBase {

auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";

publish_sensor_frames = get_parameter("publish_sensor_frames").as_bool();
}

static double compute_scan_col_ts_spacing_ns(sensor::lidar_mode ld_mode) {
Expand All @@ -118,7 +121,10 @@ class OusterCloud : public OusterProcessingNodeBase {
RCLCPP_INFO(get_logger(),
"OusterCloud: retrieved new sensor metadata!");
info = sensor::parse_metadata(metadata_msg->data);
send_static_transforms();
if (publish_sensor_frames)
{
send_static_transforms();
}
n_returns = get_n_returns();
create_lidarscan_objects();
compute_scan_ts = [this](const auto& ts_v) {
Expand Down Expand Up @@ -349,6 +355,8 @@ class OusterCloud : public OusterProcessingNodeBase {
std::string imu_frame;
std::string lidar_frame;

bool publish_sensor_frames;

tf2_ros::StaticTransformBroadcaster tf_bcast;

bool use_ros_time;
Expand Down