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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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Fixed deprecations in launch file #51

Closed tpanzarella closed 4 years ago

tpanzarella commented 4 years ago

Fixed some deprecation warnings related to the launch file. Prior, upon launch, an exemplary output looks like:

$ ros2 launch ros2_ouster os1_launch.py params_file:=${HOME}/.params2/os1.yaml
[INFO] [launch]: All log files can be found below /home/tpanzarella/.ros/log/2020-06-08-15-43-09-931214-jelly-4972
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/lifecycle_node.py:81: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
  warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/lifecycle_node.py:90: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
  super().__init__(name=name, **kwargs)
/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py:181: UserWarning: The parameter 'node_namespace' is deprecated, use 'namespace' instead
  warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
1591645390.073145 [0]       ros2: using network interface enp0s31f6 (udp/192.168.0.92) selected arbitrarily from: enp0s31f6, wlp3s0
[INFO] [ouster_driver-1]: process started with pid [4983]
[ouster_driver-1] 1591645390.118170 [0] ouster_dri: using network interface enp0s31f6 (udp/192.168.0.92) selected arbitrarily from: enp0s31f6, wlp3s0
[ouster_driver-1] [INFO] [1591645390.349303743] [ouster_driver]: Configuring Ouster driver node.
[ouster_driver-1] [INFO] [1591645390.349831607] [ouster_driver]: Connecting to sensor at 192.168.0.254.
[ouster_driver-1] [INFO] [1591645390.349950276] [ouster_driver]: Broadcasting data from sensor to 192.168.0.92.
[INFO] [launch.user]: [LifecycleLaunch] Ouster driver node is activating.
[ouster_driver-1] [INFO] [1591645390.408379182] [ouster_driver]: Activating Ouster driver node.

With this patch, exemplary output looks like:

$ ros2 launch ros2_ouster os1_launch.py params_file:=${HOME}/.params2/os1.yaml
[INFO] [launch]: All log files can be found below /home/tpanzarella/.ros/log/2020-06-08-15-49-57-405796-jelly-7309
[INFO] [launch]: Default logging verbosity is set to INFO
1591645797.497299 [0]       ros2: using network interface enp0s31f6 (udp/192.168.0.92) selected arbitrarily from: enp0s31f6, wlp3s0
[INFO] [ouster_driver-1]: process started with pid [7320]
[ouster_driver-1] 1591645797.522544 [0] ouster_dri: using network interface enp0s31f6 (udp/192.168.0.92) selected arbitrarily from: enp0s31f6, wlp3s0
[ouster_driver-1] [INFO] [1591645797.764282713] [ouster_driver]: Configuring Ouster driver node.
[ouster_driver-1] [WARN] [1591645797.764669737] [ouster_driver]: Using TIME_FROM_ROS_RECEPTION to stamp data with ROS time on reception. This has unmodelled latency!
[ouster_driver-1] [INFO] [1591645797.764802520] [ouster_driver]: Connecting to sensor at 192.168.0.254.
[ouster_driver-1] [INFO] [1591645797.764854084] [ouster_driver]: Broadcasting data from sensor to 192.168.0.92.
[INFO] [launch.user]: [LifecycleLaunch] Ouster driver node is activating.
[ouster_driver-1] [INFO] [1591645797.810213618] [ouster_driver]: Activating Ouster driver node.
SteveMacenski commented 4 years ago

Merge once the PR builder passes :+1: