ouster-ros2 v0.12.0

What's Changed

ouster_ros(2)

• [BREAKING]: updated ouster_client to the release of 20231031 [v0.10.0]; changes listed below.
• [BREAKING]: publish PCL point clouds destaggered.
• introduced a new launch file parameter ptp_utc_tai_offset which represent offset in seconds
  to be applied to all ROS messages the driver generates when TIME_FROM_PTP_1588 timestamp mode
  is used.
  • [BREAKING]: the default value of ptp_utc_tai_offset is set to -37.0. To retain the same
    time offset for an existing system, users need to set ptp_utc_tai_offset to 0.0.
• fix: destagger columns timestamp when generating destaggered point clouds.
• shutdown the driver when unable to connect to the sensor on startup
• breaking: rename ouster_msgs to ouster_sensor_msgs
• added the ability to customize the published point clouds(s) to velodyne point cloud format and
  other common pcl point types.
• ouster_image_compoenent can operate separately from ouster_cloud_component.
• fix: gracefully stop the driver when shutdown is requested.
• Several performance and stability improvements

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ouster_client

• [BREAKING] Updates to sensor_info include:
  • new fields added: build_date, image_rev, prod_pn, status, cal (representing
    the value stored in the calibration_status metadata JSON key), config (representing the
    value of the sensor_config metadata JSON key)
  • the original JSON string is accessible via the original_string() method
  • The updated_metadata_string() now returns a JSON string reflecting any modifications to
    sensor_info
  • to_string is now marked as deprecated
• [BREAKING] The RANGE field defined in parsing.cpp, for the low data rate profile, is now 32 bits
  wide (originally 16 bits).
  • Please note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] The NEAR_IR field defined in parsing.cpp, for the low data rate profile, is now 16
  bits wide (originally 8 bits).
  • Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] changed frame_id return size to 32 bits from 16 bits
• An array of per-packet timestamps (called packet_timestamp) is added to LidarScan
• The client now retries failed requests to an Ouster sensor's HTTP API
• Increased the default timeout for HTTP requests to 40s
• Added FuSA UDP profile to support Ouster FW 3.1+
• Improved ScanBatcher performance by roughly 3x (depending on hardware)
• Receive buffer size increased from 256KB to 1MB
• [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the viz.Cloud
  Python class
• [bugfix] Fixed an issue that resulted in some packet_format methods returning an uninitialized
  value
• [bugfix] Fixed a libpcap-related linking issue
• [bugfix] Fixed an eigen 3.3-related linking issue
• [bugfix] Fixed a zero beam angle calculation issue
• [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10