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SW-4360: ouster-ros driver performance and stability optimizations #40

Merged
merged 3 commits into from
Dec 14, 2022
Merged

SW-4360: ouster-ros driver performance and stability optimizations #40

merged 3 commits into from
Dec 14, 2022

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Samahu
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@Samahu Samahu commented Dec 12, 2022 •
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Summary of Changes

  • Improve ROS driver performance
  • Reduce CPU utilization by 1.5x - 1.7x

  • Significantly reduce time delay to publish point clouds and improve driver stability
  • Other changes
    • BREAKING CHANGE: update ring type from uint8_t to uint16_t
    • Add pcl_ros to as dependency to package.xml

Validation

  • Launch the driver either through live or replay mode with and without these changes
SENSOR_HOSTNAME=<sensor>
roslaunch ouster_ros sensor.launch sensor_hostname:=$SENSOR_HOSTNAME
  • Observe overall CPU utilization before and after (excluding the os_image_nodelet).

@Samahu Samahu added the enhancement New feature or request label Dec 12, 2022
@Samahu Samahu self-assigned this Dec 12, 2022
kairenw
kairenw approved these changes Dec 13, 2022
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include/ouster_ros/os_ros.h Outdated Show resolved Hide resolved
@Samahu Samahu marked this pull request as ready for review December 14, 2022 17:33
@Samahu Samahu merged commit b5393ca into master Dec 14, 2022
@Samahu Samahu deleted the SW-4360-ouster-ros-driver-performance-optimizations branch December 14, 2022 17:35
@Samahu Samahu mentioned this pull request Jan 30, 2023
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@Samahu Samahu mentioned this pull request Feb 17, 2023
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tobii-ho pushed a commit to StarkStrom-Driverless/ouster-ros that referenced this pull request Nov 18, 2023
@Samahu
Merge pull request ouster-lidar#40 from ouster-lidar/SW-4360-ouster-r…
d022daa 
…os-driver-performance-optimizations

SW-4360: ouster-ros driver performance and stability optimizations
tobii-ho pushed a commit to StarkStrom-Driverless/ouster-ros that referenced this pull request Nov 19, 2023
@Samahu
Merge pull request ouster-lidar#40 from ouster-lidar/SW-4360-ouster-r…
40ba4d2 
…os-driver-performance-optimizations

SW-4360: ouster-ros driver performance and stability optimizations
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@kairenw kairenw kairenw approved these changes

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@Samahu Samahu

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Successfully merging this pull request may close these issues.

pcl ring datatype update ouster_ros package does not export the right target dependencies
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@Samahu @kairenw