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The repo contains a .clang-format file. Could you format your PR with that? |
fcladera
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Feb 3, 2024
launch/driver.launch
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I'd suggest not changing these defaults, as this depends on the user.
versatran01
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Feb 4, 2024
include/ouster_decoder/decoder.h
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README.md
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I'm wondering if ouster's official decoder still has >3ms latency?
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@jhughes50 put together a few tests and I am stealing his slide here:
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I updated the readme to reflect the new latency. I removed the sensor_hostname and udp_dest defaults and kept the port defaults, but can remove them if we don't want them in a launch file. I also changed the formatting to match throughout. |
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Update version of ouster_decoder that works with ouster sdk v0.10. It has been tested with ROS bags, the gen 6 and gen 0 lidars. I also organized the code base by putting all class and struct definition in their own header files in
includeand separated out the main function for each node. Finally, I updated documentation with a brief description of everything in the header files and an updated readme. I did create a new launch file to launch everything at once calledouster.launchand set the default parameter values to what we use.The logic has remained the same, I only made changes to how we get information from the ouster client and changed a few variable types to correspond with that.