Ros parameter to not publish cloud if dropped udp packages

[ovaag]

Is your feature request related to a problem? Please describe.
On our robot, the ouster driver sometimes output incomplete pointclouds where less than 32 lidar packets have been used to create the cloud. This leads to our odometry pipeline working on weird looking clouds and producing misleading scanmatching results.
In these cases we'd rather have no data, than to have bad data.

Describe the solution you'd like
A ros parameter that can be altered to tell the driver if you'd like it to not publish the pointcloud if it's not made up of all the expected lidar packages.

Describe alternatives you've considered
Having some node doing filtering directly after ouster driver to detect sudden drops in number of points in cloud.

I'm currently looking into doing this on our fork of ouster-ros, so I was wondering if this is something you would have interest in having upstream as well? If so, do you have strong opinions on how it should be done, or should I just submit the PR, and take it from there?

[Samahu]

It makes total sense