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Configurable qos and default history depth #229

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Configurable qos and default history depth #229

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7938432
allow for configuring packet topics qos
Aposhian Oct 12, 2023
9376a64
increase default history depth for packets topic
Aposhian Oct 12, 2023
d513b3c
Merge branch 'ros2' into configurable-qos
Aposhian Oct 13, 2023
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7 changes: 5 additions & 2 deletions ouster-ros/src/os_cloud_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -150,11 +150,14 @@ class OusterCloud : public OusterProcessingNodeBase {
lidar_packet_handler = LidarPacketHandler::create_handler(
info, processors, timestamp_mode,
static_cast<int64_t>(ptp_utc_tai_offset * 1e+9));
rclcpp::SubscriptionOptions subscription_options;
subscription_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
lidar_packet_sub = create_subscription<PacketMsg>(
"lidar_packets", selected_qos,
"lidar_packets", selected_qos.keep_last(100),
[this](const PacketMsg::ConstSharedPtr msg) {
lidar_packet_handler(msg->buf.data());
});
},
subscription_options);
}
}

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6 changes: 4 additions & 2 deletions ouster-ros/src/os_sensor_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -643,9 +643,11 @@ void OusterSensor::create_publishers() {
rclcpp::QoS sensor_data_qos = rclcpp::SensorDataQoS();
auto selected_qos =
use_system_default_qos ? system_default_qos : sensor_data_qos;
rclcpp::PublisherOptions publisher_options;
publisher_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
lidar_packet_pub =
create_publisher<PacketMsg>("lidar_packets", selected_qos);
imu_packet_pub = create_publisher<PacketMsg>("imu_packets", selected_qos);
create_publisher<PacketMsg>("lidar_packets", selected_qos.keep_last(100), publisher_options);
imu_packet_pub = create_publisher<PacketMsg>("imu_packets", selected_qos, publisher_options);
}

void OusterSensor::allocate_buffers() {
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