use the new libmultisense api #54
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…robotics/multisense_ros2 into malvarado/new_libmultisense_api
| const rclcpp::NodeOptions& options, | ||
| std::unique_ptr<multisense::Channel> channel, | ||
| const std::string& tf_prefix, | ||
| bool use_image_transport, |
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nbd: we could maybe do something to help clarify the purpose of the bool args in calling code (eg this would look like Multisense(..., false, true))
| // Device stream control | ||
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| size_t num_subscribers(const rclcpp::Node::SharedPtr node, const std::string &topic); | ||
| size_t num_subscribers(const rclcpp::Node* node, const std::string &topic); |
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nit: make these methods const, and maybe switch to const Node &?
they are private, so it isn't much of a practical concern
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I believe I started with a const ref, but I need to pass the pointer to the current node via this for things to work properly
| const size_t num_fields = ros_point_cloud.fields.size(); | ||
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| // | ||
| // Unfortunately we need to iterate and write our points to the output buffer since we need to |
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not sure what the receiving end looks like, but just curious if it can use the field configuration to pull the color channels out of 3 separate uint8 fields instead of 1 float32?
multisense_ros/src/multisense.cpp
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| // If our main image pair does not support color, make sure we explicitly disable white balance. If | ||
| // we could undeclare the parameter |
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is this an unfinished comment?
looks like parameters can be undeclared by setting to rclcpp::PARAMETER_NOT_SET?
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Unfortunately rclcpp::PARAMETER_NOT_SET doesn't actually work
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Use the new LibMultiSense API as the base for the multisense_ros2 driver.
To properly use this driver you must use MultiSense firmware >= v7.22. See https://docs.carnegierobotics.com/firmware/update.html for update instructions
Notable changes include: