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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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Firmware compatibility 2.0 in `foxy-devel` #86

Closed mnissov closed 2 years ago

mnissov commented 2 years ago

Based on changes made in ros2 #67, as solution to #85.

Tested with OS0-128, firmware 2.1.1, on ubuntu 20.04 ros foxy: Screenshot from 2021-10-19 14-31-40

Note: rviz reliability is set to "Best Effort", otherwise nothing is shown.

SteveMacenski commented 2 years ago

We cannot make breaking changes to released distributions. This is wont fix.

mnissov commented 2 years ago

Won't fix, as in the firmware 2.0 compatibility in the foxy-devel branch is a won't fix?

That is to say, I'm open to other forms of trying to fix this problem if this wasn't the correct approach. But I need this fix in foxy, and I would imagine I am not alone.

SteveMacenski commented 2 years ago

It won't be supported in Foxy, unfortunately, Ouster released the 2.0 firmware after Foxy was released and turned into binary form, so we cannot backport without breaking people's existing configurations since the clients are not remotely backward compatible. 2.0 is targeted at Galactic and newer.

mnissov commented 2 years ago

Ah okay, makes sense. Guess I have a use for my fork then :)