driver.launch

<launch>
    <arg name="sensor_hostname" default="" doc="hostname or IP in dotted decimal form of the sensor"/>
    <arg name="udp_dest" default="" doc="hostname or IP where the sensor will send data packets"/>
    <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
    <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
    <arg name="replay" default="true" doc="do not connect to a sensor; expect /os_node/{lidar,imu}_packets from replay"/>
    <arg name="lidar_mode" default="" doc="resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10"/>
    <arg name="timestamp_mode" default="" doc="method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588"/>
    <arg name="metadata" default="" doc="override default metadata file for replays"/>
    <arg name="tf_prefix" default="" doc="namespace for tf transforms"/>
    <arg name="driver_ns" default="os_node"/>

    <!-- <node pkg="ouster_ros" type="os_node" name="os_node" output="screen" required="true"> -->
    <node pkg="ouster_decoder" type="ouster_driver" name="$(arg driver_ns)" output="screen" required="true">
        <param name="~/lidar_mode" type="string" value="$(arg lidar_mode)"/>
        <param name="~/timestamp_mode" type="string" value="$(arg timestamp_mode)"/>
        <param name="~/replay" value="$(arg replay)"/>
        <param name="~/sensor_hostname" value="$(arg sensor_hostname)"/>
        <param name="~/udp_dest" value="$(arg udp_dest)"/>
        <param name="~/lidar_port" value="$(arg lidar_port)"/>
        <param name="~/imu_port" value="$(arg imu_port)"/>
        <param name="~/metadata" value="$(arg metadata)"/>
    </node>
</launch>