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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
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Add optional intraprocess communcation support #108

Open Aposhian opened 2 years ago

Aposhian commented 2 years ago

Making the drivers able to be run as a component makes ROS2 intraprocess comunication an option, but doesn't actually enable it. It needs to be enabled in either the NodeOptions or the PublisherOptions.

Since enabling intraprocess affects the QoS that is available, it is probably good to have this be an option that is not always on, but can be enabled by topic.

SteveMacenski commented 2 years ago

This would be a pretty easy PR, setting some parameter to enable that