ROS2 foxy compatibility mode (#149)

* Squashed commit of the following:
- remove deprecated methods + naming nits
-  Added notes to size(), empty(), full()
-  Expose scan_ring param and update relevant params description
- Added ImageProcessor to support IMG flag
- Define new argument scan_ring
- Re-formatting CHANGELOG a bit
- Add missing parameter declaration
- Apply && to accepted method of ThreadSafeRingBuffer +  nits and code formatting
- Update CHANGELOG.rst and package version
- Update minimal readme file and utilize os_driver by default
- Add proc_mask to xml file
- Remove experminal marker from set_config and reset ros services
- Expose use_system_default_qos parameter to xml launch file and use proper defaults
- Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files
- More detailed explanation about the IMG node
- Add minor note
- Add the ability to override current qos settings
- Reduce sync operations + restore sensor reset/reactivation
- Add support for the selecting IMU
- Create topics/subs when their respective flags enabled
- Parse proc_mask and hook to launch files and config
- Restor os_cloud_node ability to process point clouds
- Refactor a bit and add the ability to process and publish point clouds and laser scans
- Incorporate LaserScan message composition
- Fix build issue
- Formatting imu and lidar packet handlers
- Factor out tf transforms broadcast
- Provide support for parsing the community driver params file with approprite launch file
- Formatting os_sensor and os_driver
- Keep transforms in Lidar Frame by default with option to switch
- Add an option to select the point_cloud frame
- Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver
- Add one more case to the unit test of ThreadSafeRingBuffer
- Adding unit tests for the ThreadSafeRingBuffer
- Move down pragma once in the handlers
- Added os_driver which combines os_sensor and os_cloud
- Added required launch files
- Better abstraction of classes
- Simplified threading logic
- Added thread safe implemention of ring buffer (not hooked yet)
- Factoring out Imu and Lidar packets handling
* Update CHANGELOG + Fix load_metadata_from_file
* Correct params file used in driver.launch.py + add comments
* Fix pub activation and re-enable sensor re-configuration
* Fix trying to publish on an inactive topic
* Update REAMDE.md to mention the Compatibilty mode
* Use angle-bracket include for laser_scan.hpp
* Fix the 2nd point cloud replacing the first
* Properly check for the write_text_to_file

CHANGELOG.rst

@@ -30,6 +30,20 @@ ouster_ros(2)
 * bugfix: fixed an issue that prevents running multiple instances of the sensor and cloud components
   in the same process.
 * switch to using static transform publisher for the ros2 driver.
+* implemented a new node named ``os_driver`` which combines the functionality of ``os_sensor``,
+  ``os_cloud`` and ``os_image`` into a single node.
+* added support to parse the same parameters provided by the ``ros2_ouster_driver``, the parameters
+  are ``lidar_ip``, ``computer_ip``, ``proc_mask`` and ``use_system_default_qos``; the parameters
+  are fully functional and similar to what the ``ros2_ouster_driver`` provides.
+* for convenience introduced a new launch file ``driver_launch.py`` that is compatible with the 
+  ``ros2_ouster_driver`` in terms of parameters it accepts and the name of published topics.
+* introduced a new parameter ``point_cloud_frame`` to allow users to select which frame to use when
+  publishing the point cloud (choose between ``sensor`` and ``lidar``).
+* breaking: ``lidar`` frame is the default frame used when publishing point clouds.
+* added the ability to choose between ``SensorDataQoS`` or ``SystemDefaultQoS`` across all published
+  topics with ``SensorDataQoS`` selected by default for live sensor mode and ``SystemDefaultQoS``
+  enabled for record and replay modes.
+* introduced a new topic ``/ouster/scan`` which publishes ``sensor_msgs::msg::LaserScan`` messages
 
 ouster_client
 -------------

Dockerfile

@@ -53,10 +53,14 @@ RUN set -xe \
 FROM build-env
 
 SHELL ["/bin/bash", "-c"]
+
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build \
     --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"
 
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon test \
+    --ctest-args tests ouster_ros --rerun-failed --output-on-failure
+
 # Entrypoint for running Ouster ros:
 #
 # Usage: docker run --rm -it ouster-ros [sensor.launch parameters ..]

README.md

@@ -1,31 +1,36 @@
 # Official ROS driver for Ouster sensors
 
 [ROS1 (melodic/noetic)](https://github.com/ouster-lidar/ouster-ros/tree/master) |
-[ROS2 (rolling/humble)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
+[ROS2 (rolling/humble/iron)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
 [ROS2 (foxy)](https://github.com/ouster-lidar/ouster-ros/tree/ros2-foxy)
 
 <p style="float: right;"><img width="20%" src="docs/images/logo.png" /></p>
 
 | ROS Version | Build Status (Linux) |
 |:-----------:|:------:|
 | ROS1 (melodic/noetic) | [![melodic/noetic](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=master)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
-| ROS2 (rolling/humble) | [![rolling/humble](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
+| ROS2 (rolling/humble/iron) | [![rolling/humble/iron](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 | ROS2 (foxy) | [![foxy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2-foxy)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 
-- [Overview](#overview)
-- [Requirements](#requirements)
-- [Getting Started](#getting-started)
-- [Usage](#usage)
-  - [Launching Nodes](#launching-nodes)
-    - [Sensor Mode](#sensor-mode)
-    - [Recording Mode](#recording-mode)
-    - [Replay Mode](#replay-mode)
-    - [Multicast Mode (experimental)](#multicast-mode-experimental)
-  - [Invoking Services](#invoking-services)
-    - [GetMetadata](#getmetadata)
-    - [GetConfig](#getconfig)
-    - [SetConfig (experimental)](#setconfig-experimental)
-- [License](#license)
+- [Official ROS driver for Ouster sensors](#official-ros-driver-for-ouster-sensors)
+  - [Overview](#overview)
+  - [Requirements](#requirements)
+    - [Linux](#linux)
+    - [Windows](#windows)
+    - [Mac](#mac)
+  - [Getting Started](#getting-started)
+  - [Usage](#usage)
+    - [Launching Nodes](#launching-nodes)
+      - [Sensor Mode](#sensor-mode)
+      - [Recording Mode](#recording-mode)
+      - [Replay Mode](#replay-mode)
+      - [Multicast Mode (experimental)](#multicast-mode-experimental)
+    - [Invoking Services](#invoking-services)
+      - [GetMetadata](#getmetadata)
+      - [GetConfig](#getconfig)
+      - [SetConfig](#setconfig)
+      - [Reset](#reset)
+  - [License](#license)
 
 
 ## Overview
@@ -38,8 +43,8 @@ dual return and it was configured to use this capability, then another topic wil
 name `/ouster/points2` which corresponds to the second point cloud.
 
 ## Requirements
-This driver only supports **Foxy** ROS 2 distro. Please refer to ROS 2 online documentation on how to
-setup ros on your machine before proceeding with the remainder of this guide.
+This branch is only intended for use with the **Foxy** ROS 2 distro. Please refer to ROS 2 online documentation on how to
+setup ROS on your machine before proceeding with the remainder of this guide.
 
 > **Note**  
 > If you have _rosdep_ tool installed on your system you can then use the following command to get all
@@ -119,14 +124,32 @@ source ros2_ws/install/setup.bash
 ## Usage
 
 ### Launching Nodes
-The package supports three modes of interaction, you can connect to a _live sensor_, _replay_ a recorded bag or _record_ a new bag file using the corresponding launch files. Recently, we have
-added a new mode that supports multicast. The commands are listed below:
+The package supports three modes of interaction, you can connect to a _live sensor_, _replay_ a 
+recorded bag or _record_ a new bag file using the corresponding launch files. Recently, we have
+added a new mode that supports multicast. The commands are listed below, for convenience we do
+provide both launch file formats (xml and python) but the python format is preferred method:
 
 #### Sensor Mode
+To connect to a live sensor you use the following launch file
 ```bash
 ros2 launch ouster_ros sensor.launch.xml    \
     sensor_hostname:=<sensor host name>
 ```
+The equivalent python file is 
+```bash
+ros2 launch ouster_ros driver.launch.py    \
+    params_files:=<path to params yaml file>
+```
+If you don't pass a params_file then the file located at `ouster/config/driver_params.yaml` will be used. Note that in
+the params you can start with default options for everything except the `sensor_hostname` param which you should adjust
+to match the hostname or ip address of the Ouster sensor you are trying to connect to.
+
+**comptability mode**
+If you are migrating from https://github.com/ros-drivers/ros2_ouster_drivers to the official ouster drivers
+we supply you with a file `driver_launch.py` which provides users with same topic name and accepts the same
+parameter file `community_driver_config.yaml`. Please note that this is provided for backward compatibilty
+it may not be maintained in the future, so it would be better to update to the new format `driver_params.yaml`
+which offers the same options and more.
 
 #### Recording Mode
 > Note
@@ -197,14 +220,14 @@ To get the current config of a live sensor, invoke the command:
 ros2 service call /ouster/get_config ouster_srvs/srv/GetConfig
 ```
 
-#### SetConfig (experimental)
+#### SetConfig
 To change config via a file while connected to a live sensor, invoke the command:
 ```bash
 ros2 service call /ouster/set_config ouster_srvs/srv/SetConfig \
     "{config_file: 'some_config.json'}"
 ```
 
-#### Reset (experimental)
+#### Reset
 To reset the new reset service, execute the following commnad:
 ```bash
 ros2 service call /ouster/reset std_srvs/srv/Empty

ouster-ros/CMakeLists.txt

@@ -156,6 +156,28 @@ rclcpp_components_register_node(os_image_component
   EXECUTABLE os_image
 )
 
+# ==== os_sensor_component ====
+create_ros2_component(os_driver_component
+  "src/os_sensor_node_base.cpp;src/os_sensor_node.cpp;src/os_driver_node.cpp"
+  "std_srvs"
+)
+rclcpp_components_register_node(os_driver_component
+  PLUGIN "ouster_ros::OusterDriver"
+  EXECUTABLE os_driver
+)
+
+
+# ==== Test ====
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(${PROJECT_NAME}_test test/ring_buffer_test.cpp)
+  target_include_directories(${PROJECT_NAME}_test PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+endif()
+
+
 # ==== Install ====
 install(
   TARGETS
@@ -164,6 +186,7 @@ install(
     os_replay_component
     os_cloud_component
     os_image_component
+    os_driver_component
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin