[NOETIC] Further reduce overhead in the ros driver #363
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…ds, destaggered/staggered + set min/max range and row step
Samahu
requested review from
twslankard,
celentes,
Krishtof-Korda,
chrisbayruns,
akatumalla-ouster and
matthew-lidar
| if (lidar_packet_handler) { | ||
| // TODO[UN]: this is not ideal since we can't reuse the msg buffer | ||
| // Need to redefine the Packet object and allow use of array_views | ||
| sensor::LidarPacket lidar_packet(msg->buf.size()); |
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I think you can actually get ROS to decode a message into a custom data type to avoid this copy (probably).
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I am not familiar with this option, I need to look into it to see if it can help with the situation here
Samahu
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matthew-lidar
approved these changes
Sep 19, 2024
celentes
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Sep 19, 2024
twslankard
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Sep 19, 2024
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Related Issues & PRs
RAWoption for proc_mask #238Summary of Changes
os_driverproc_maskto optionally publish the raw packets when using os_driverTODO(s)
optionally publish raw packets in os_drivercartesianT&point_cloud_composemethodsValidation
destaggeris set to false verify the driver doesn't destagger the published point cloudorganizedis set to false verify that the published point cloud isn't 2Dmin_rangeandmax_rangeand observe the point cloud shrink accordingly./ouster/imu_packetsand/ouster/lidar_packetappear when RAW flag is passed toos_driver