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ouster-lidar / ouster-ros

Official ROS drivers for Ouster sensors (OS0, OS1, OS2, OSDome)
https://ouster.com
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Merger for clouds of several lidars #62

Open ShepelIlya opened 1 year ago

ShepelIlya commented 1 year ago

As i mentioned in this comment we use some other features for our work with ouster ros driver. The main feature is os_cloud_merger_nodelet. This nodelet can merge clouds from several os_cloud_nodelets with standart ROS ApproximatePolicy Synchronizer. Also we can transform this cloud to preferred frame and use box filter on it. We use it on our robot with 2 ouster sensors on it, may be other users with multi-lidars setup need something like this

I can make a PR if you interested in this functionality.

Samahu commented 1 year ago

That would be useful but I wouldn't be able to support with merge currently since I am occupied with ROS2 driver stability and optimization work, so it won't be until next quarter that I can take a look at this. I will keep this ticket open and we can circle back on it.

stephen-derosa commented 1 year ago

Curious if there has been any update on this - has time opened up for this ?

Samahu commented 1 year ago

Nope, not yet. But thanks for asking as this helps us with planning for future releases.