add azimuth window config support

[bertaveira]

Recent versions of the ouster FW seem to reset the azimuth windows on reboot. Therefore I am trying to add the azimuth as a possible configuration on the start of the ROS2 driver. For that reason I need to add that as a configuration in here.

I have tested it to be working with the OS1-64 FW 2.2.1 with the ROS2 driver in foxy. I replicated the same changes here.

[kairenw]

That's quite strange! It really ought not to be resetting your azimuth windows on reboot. Are you persisting the configuration? You can do that through the sensor homepage or with the sensor config API.

[bertaveira]

That's quite strange! It really ought not to be resetting your azimuth windows on reboot. Are you persisting the configuration? You can do that through the sensor homepage or with the sensor config API.

I will try reflashing tomorrow and see if It fixes the problem. I might have not set the persisting. I had it reset in the past randomly but it might have been due to bad configurations or updates

[kairenw]

I will try reflashing tomorrow and see if It fixes the problem. I might have not set the persisting. I had it reset in the past randomly but it might have been due to bad configurations or updates

Yeah, sorry I also misspoke a bit there. What I meant to say was: the sensor will reset your azimuth window on reboot unless you've persisted the window (and other sensor configuration settings) that you want. I believe this is the behavior you're seeing -- that is, you are setting the active configuration but not persisting it, so on reboot the sensor loads up its old defaults again. Once you've persisted the settings you like, you shouldn't have to touch it again and reboot should load your new saved values. If that isn't the case, then there's something wrong with your sensor most likely or possibly the FW image you have.

Separately, if you'd like to set these values programmatically, you can use the sensor config API. It's not ideal but you can basically update the ouster_ros driver here: https://github.com/ouster-lidar/ouster_example/blob/master/ouster_ros/src/os_node.cpp#L228 to set the azimuth_window to what you need as well (and update the launch file to read in the values if you like).

If you think setting azimuth_window through ROS params is something we should support overall, I can't promise anything, but if you open an issue, we will keep it in mind as we continue to make updates.

[zdjeffri]

Dropping a comment to freshen this up. Any updates regarding this PR? This is a feature we need to give our safety driver some space behind the vehicle without making it into maps. We've been using JSON files, which is inconvenient as we're constantly toggling between modes.