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ROS-227: Set LIDAR FOV on startup and add an option to persist the config [NOETIC] #356

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merged 9 commits into from
Aug 20, 2024
Merged

ROS-227: Set LIDAR FOV on startup and add an option to persist the config [NOETIC] #356

merged 9 commits into from
Aug 20, 2024

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Samahu
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@Samahu Samahu commented Aug 19, 2024 •
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Summary of Changes

  • Set LIDAR FOV on startup
  • Add an option to persist the config

Validation

  • Run the node with azimuth start and stop as follows
roslaunch ouster_ros driver.launch \
    azimuth_window_start:=150000 \
    azimuth_window_end:=250000

Verify that the azimuth window is cropped to selection

  • Run the node with persist_config set true as follows
roslaunch ouster_ros driver.launch \
   <pass a selection of settings> \
    persist_config:=true

Verify that the new settings persist after power up/down cycle of the sensor

@Samahu Samahu added the enhancement New feature or request label Aug 19, 2024
@Samahu Samahu self-assigned this Aug 19, 2024
@Samahu Samahu changed the title Ros 227 changing lidar fov noetic ROS-227 changing lidar fov noetic Aug 19, 2024
@Samahu Samahu changed the title ROS-227 changing lidar fov noetic ROS-227: Set LIDAR FOV on startup [NOETIC] Aug 19, 2024
Samahu
Samahu commented Aug 19, 2024
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Samahu
Samahu commented Aug 19, 2024
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@Samahu Samahu changed the title ROS-227: Set LIDAR FOV on startup [NOETIC] ROS-227: Set LIDAR FOV on startup and add an option to persist the config [NOETIC] Aug 19, 2024
@Samahu Samahu marked this pull request as ready for review August 19, 2024 18:16
matthew-lidar
matthew-lidar approved these changes Aug 20, 2024
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Looks good, just maybe consider changing the language of the warning.

twslankard
twslankard approved these changes Aug 20, 2024
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LGTM ! 🚀

@Samahu Samahu merged commit 8b81347 into master Aug 20, 2024
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@Samahu Samahu deleted the ROS-227-changing-lidar-fov-noetic branch August 20, 2024 19:49
This was referenced Aug 21, 2024
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@matthew-lidar matthew-lidar matthew-lidar approved these changes

@Krishtof-Korda Krishtof-Korda Krishtof-Korda approved these changes

@twslankard twslankard twslankard approved these changes

@celentes celentes Awaiting requested review from celentes

@akatumalla-ouster akatumalla-ouster Awaiting requested review from akatumalla-ouster

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@Samahu Samahu

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Support setting sensor config
4 participants
@Samahu @twslankard @Krishtof-Korda @matthew-lidar