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KumarRobotics / ouster_decoder

A low latency decoder for Ouster Lidars
BSD 3-Clause "New" or "Revised" License
17 stars 9 forks source link

Refactor/v0.10 #13

Open jhughes50 opened 9 months ago

jhughes50 commented 9 months ago

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 include and 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 called ouster.launch and 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.

versatran01 commented 9 months ago

The repo contains a .clang-format file. Could you format your PR with that?

jhughes50 commented 9 months ago

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.