pointcloud2 data and LaserScan data at the same time

[7DoF]

Hi, I'm using Ouster OS0-32 Rev-06 Lidar. I'd like to know if there is a possibility that we can output both pointcloud2 3d data and LaserScan data using pro_mask field.

Thanks and regards.

Platform (please complete the following information):

• Ouster Sensor? OS-0
• Ouster Firmware Version? v2.5.2
• ROS version/distro? melodic
• Operating System? Linux
• Machine Architecture? arm64
• git commit hash (if not the latest).

[Samahu]

@7DoF It is already possible to enable/disable both PointCloud2 and LaserScan using the proc_mask flag through launch file arguments which you could get a list of by following the instructions noted in this section: https://github.com/ouster-lidar/ouster-ros#launch-files-arguments and you can find the proc_mask is on of the arguments along with its use.

It is worth noting that the main branch for ROS1 has an issue in which the published LaserScan msg has some misalignment issue with the produced point cloud which will be addressed once PR #224 is reviewed and merged. Which seems great but I see that you are on ROS melodic which we have stopped supporting starting with version v0.10.0. You would need to upgrade to using noetic distro to take advantage of the pending fix.

[7DoF]

Hi, @Samahu , thank you for the clarification.