Port FW 2.0 and 2.1 changes
MattSYoung opened this issue · 4 comments
Based on my discussion with Steve in #74, there are features in ouster-lidar/ouster_example that have yet to be ported to this repo. I believe (and correct me if I'm wrong) that the last set of changes ported were made with #67. It looks like this PR includes all changes prior to ouster_example/#239.
The goal of this issue is to port across the minimal number of changes to maintain compatibility between the contents of ouster_example/ouster_client and the equivalent files here.
List of features/items to port include:
From ouster_example/#239
- Addition of
optional-litecode - Addition of the
sensor_configstruct amongst others to types.h - Addition of new functions to types.h/cpp
- Function changes in lidar_scan.h/cpp
- Addition of new functions to client.h/cpp
- Misc Cmake, readme changes
From ouster_example/#246
- Bugfixes
From ouster_example/#259
- Addition of
signal_multiplierparameter to config, across multiple files - Misc other bug fixes and code changes across
ouster_client/folder
@SteveMacenski Let me know if there is anything here that I've missed.
I think all the changes have been ported, see https://github.com/MattSYoung/ros2_ouster_drivers. I'll do some testing with a physical Ouster and then issue a merge request from that fork.
Confirmed that the changes haven't broken anything (see below). Tested with a OS0-128 at 2048x10 resolution. I will issue a PR now
Closed with the merge of #76