ouster_ros v0.13.0

What's Changed

ouster_ros(1)

• [BREAKING] ROS1 driver code now requires C++17 (required for point cloud customization feature).
• added the ability to customize the published point clouds(s) to velodyne point cloud format and
  other common pcl point types.
• ouster_image_nodelet can operate independently from ouster_cloud_nodelet.
• install ouster-ros and ouster_client include directories in separate folders.
• [BUGFIX]: LaserScan is not properly aligned with generated point cloud
  • address an issue where LaserScan appeared different on FW prior to 2.4
• [BUGFIX]: LaserScan does not work when using dual mode
• [BUGFIX]: Implement lock free ring buffer with throttling to avoid generating partial frames
• add support for FUSA udp profile FUSA_RNG15_RFL8_NIR8_DUAL.
• [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
• Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
  explicitly by turning on the BUILD_PCAP cmake option and having libpcap-dev installed.
• [BREAKING] Added new launch files args azimuth_window_start and azimuth_window_end to
  allow users to set LIDAR FOV on startup. The new options will reset the current azimuth window
  to the default [0, 360] azimuth if not configured.
• Added a new launch persist_config option to request the sensor persist the current config
• Added a new loop option to the replay.launch file.
• Added support for automatic sensor reconnection. Consult attempt_reconnect launch file arg
  documentation and the associated params to enable. Known Issues:
  • RVIZ can't handle image resize
  • Can't handle points cloud resize properly (erroneous or corrupt PointCloud)
  • Doesn't detect and handle invalid configurations
• Added a new parameter organized to request publishing unorganized point cloud
• Added a new parameter destagger to request publishing staggered point cloud
• Added two parameters min_range, max_range to limit the lidar effective range
• Updated ouster_client to the release of 20240425 [v0.11.1]; changes listed below.

ouster_client

• Added a new buffered UDP source implementation BufferedUDPSource.
• The method version_of_string is marked as deprecated, use version_from_string
  instead.
• Added a new method firmware_version_from_metadata which works across firmwares.
• Added support for return order configuration parameter.
• Added support for gyro and accelerometer FSR configuration parameters.
• [BUGFIX] mtp_init_client throws a bad optional access.
• [BUGFIX] properly handle 32-bit frame IDs from the
• FUSA_RNG15_RFL8_NIR8_DUAL sensor UDP profile.