align timestamps based on staggered/destaggered option + CHANGELOG + …

…workflows
ouster-lidar · Oct 10, 2024 · ff1d0d6 · ff1d0d6
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -7,6 +7,14 @@ assignees: ''
 
 ---
 
+> **IMPORTANT**  
+> Before reporting a new bug make sure you have:
+> - [ ] Checked existing issues https://github.com/ouster-lidar/ouster-ros/issues
+> - [ ] Checked existing issues https://github.com/ouster-lidar/ouster-ros/issues
+> - [ ] Checked ouster community https://community.ouster.com/
+> If you couldn't find relevant information and you think this is rather a driver 
+> problem then proceed with bug reporting.
+
 **Describe the bug**
 A clear and concise description of what the bug is.
 

diff --git a/.github/ISSUE_TEMPLATE/question.md b/.github/ISSUE_TEMPLATE/question.md
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,8 +2,14 @@
 Changelog
 =========
 
-[ouster_ros v0.13.0]
-====================
+
+[unreleased]
+============
+* [BUGFIX]: correctly align timestamps to the generated point cloud
+
+
+ouster_ros v0.13.0
+==================
 
 ouster_ros(1)
 -------------

diff --git a/src/os_sensor_nodelet.cpp b/src/os_sensor_nodelet.cpp
@@ -116,9 +116,9 @@ void OusterSensor::onInit() {
     create_services();
     create_publishers();
     attempt_reconnect = getPrivateNodeHandle().param("attempt_reconnect", false);
-    dormant_period_between_reconnects = 
+    dormant_period_between_reconnects =
         getPrivateNodeHandle().param("dormant_period_between_reconnects", 1.0);
-    reconnect_attempts_available = 
+    reconnect_attempts_available =
         getPrivateNodeHandle().param("max_failed_reconnect_attempts", INT_MAX);
     attempt_start();
 }

diff --git a/src/point_cloud_compose.h b/src/point_cloud_compose.h
@@ -152,7 +152,10 @@ void scan_to_cloud_f(ouster_ros::Cloud<PointT>& cloud,
                     cloud.points.emplace_back();
             }
 
-            auto ts = timestamp[v];
+            // as opposed to the point cloud destaggering if it is disabled
+            // then timestamps needs to be staggered.
+            auto ts = destagger ?
+                timestamp[v] : timestamp[(v + ls.w + pixel_shift_by_row[u]) % ls.w];
             ts = ts > scan_ts ? ts - scan_ts : 0UL;
 
             // if target point and staging point has matching type bind the