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Is your feature request related to a problem? Please describe.
We recently upgraded to use the new single nodelet driver (started via driver.launch as described in https://github.com/ouster-lidar/ouster-ros#sensor-mode ). This shows significantly reduced CPU consumption on Jetson embedded systems compared to the "old" multi-nodelet setup. However, it appears the support to simultaneously publish the lidar and imu packets has been dropped. This is a problem because for data recording purposes, those are the most useful data to record (as also remarked by others in #110 ).
Describe the solution you'd like
It would be great to have the single driver nodelet also optionally (i.e. if numSubscribers() > 0 ) publish the raw packets, so they can be recorded for later postprocessing/analysis.
Describe alternatives you've considered
An alternative is using the old multi-nodelet setup, but that one causes high CPU load on Jetson embedded systems, so not a good option.
Targeted Platform (please complete the following information only if applicable, otherwise dot N/A):
ROS1, but likely applies to ROS2 also (?)
The text was updated successfully, but these errors were encountered:
Is your feature request related to a problem? Please describe.
We recently upgraded to use the new single nodelet driver (started via driver.launch as described in https://github.com/ouster-lidar/ouster-ros#sensor-mode ). This shows significantly reduced CPU consumption on Jetson embedded systems compared to the "old" multi-nodelet setup. However, it appears the support to simultaneously publish the lidar and imu packets has been dropped. This is a problem because for data recording purposes, those are the most useful data to record (as also remarked by others in #110 ).
Describe the solution you'd like
It would be great to have the single driver nodelet also optionally (i.e.
if numSubscribers() > 0
) publish the raw packets, so they can be recorded for later postprocessing/analysis.Describe alternatives you've considered
An alternative is using the old multi-nodelet setup, but that one causes high CPU load on Jetson embedded systems, so not a good option.
Targeted Platform (please complete the following information only if applicable, otherwise dot N/A):
The text was updated successfully, but these errors were encountered: