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ROS-368[GALACTIC|FOXY]: unable to use the replay mode due to unknown substitution arg #371

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merged 2 commits into from
Sep 17, 2024
Merged

ROS-368[GALACTIC|FOXY]: unable to use the replay mode due to unknown substitution arg #371

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daa66d7
Fix unknown-substitution-arg
Samahu Sep 17, 2024
b3021fd
fix remapping for ros2 foxy
Samahu Sep 17, 2024
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12 changes: 6 additions & 6 deletions ouster-ros/launch/replay.independent.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,8 @@
<set_parameter name="use_sim_time" value="true" />

<arg name="loop" default="false" description="request loop playback"/>
<arg if="$(arg loop)" name="_loop" value="--loop"/>
<arg unless="$(arg loop)" name="_loop" value=" "/>

<remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
<remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
<let if="$(var loop)" name="_loop" value="--loop"/>
<let unless="$(var loop)" name="_loop" value=" "/>

<arg name="ouster_ns" default="ouster"
description="Override the default namespace of all ouster nodes"/>
Expand Down Expand Up @@ -70,6 +67,8 @@
<param name="metadata" value="$(var metadata)"/>
</node>
<node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
<remap from="/os_node/imu_packets" to="/ouster/imu_packets"/>
<remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
<param name="sensor_frame" value="$(var sensor_frame)"/>
<param name="lidar_frame" value="$(var lidar_frame)"/>
<param name="imu_frame" value="$(var imu_frame)"/>
Expand All @@ -82,6 +81,7 @@
<param name="point_type" value="$(var point_type)"/>
</node>
<node pkg="ouster_ros" exec="os_image" name="os_image" output="screen">
<remap from="/os_node/lidar_packets" to="/ouster/lidar_packets"/>
<param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
</node>
</group>
Expand All @@ -104,7 +104,7 @@

<executable if="$(var _use_bag_file_name)" output="screen"
launch-prefix="bash -c 'sleep 3; $0 $@'"
cmd="ros2 bag play $(var bag_file) --clock $(arg _loop)
cmd="ros2 bag play $(var bag_file) $(var _loop)
--qos-profile-overrides-path
$(find-pkg-share ouster_ros)/config/metadata-qos-override.yaml"/>

Expand Down
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