Merge pull request #18 in SDK/quanergy_client_ros from feature/SDK-10…

…1-support-reduced-bandwidth-m8-packet to develop * commit 'cba83a5fd93fb06e6780321206e82612e022e306': Fix: missing comma Update: add packet 04 support NM: readme formatting
QuanergySystems · Oct 19, 2017 · 88ffb13 · 88ffb13
2 parents ceab8a1 + cba83a5
commit 88ffb13
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/README.md b/README.md
@@ -3,5 +3,7 @@ ROS driver using quanergy_client to produce ROS point cloud messages from Quaner
 
 ## Build Instructions
 [Ubuntu 14.04 LTS](readme/ubuntu1404.md)
+
 [Ubuntu 16.04 LTS](readme/ubuntu1604.md)
+
 [nVidia Drive PX B00](readme/NVidiaDrivePX.md)
diff --git a/include/quanergy_client_ros/client_node.h b/include/quanergy_client_ros/client_node.h
@@ -25,6 +25,7 @@
 #include <quanergy/parsers/variadic_packet_parser.h>
 #include <quanergy/parsers/data_packet_parser_00.h>
 #include <quanergy/parsers/data_packet_parser_01.h>
+#include <quanergy/parsers/data_packet_parser_04.h>
 
 // filters
 #include <quanergy/modules/distance_filter.h>
@@ -41,11 +42,13 @@ struct ClientNode
   typedef quanergy::client::SensorClient ClientType;
   typedef quanergy::client::VariadicPacketParser<quanergy::PointCloudHVDIRPtr,                      // return type
                                                  quanergy::client::DataPacketParser00,              // PARSER_00_INDEX
-                                                 quanergy::client::DataPacketParser01> ParserType;  // PARSER_01_INDEX
+                                                 quanergy::client::DataPacketParser01,              // PARSER_01_INDEX
+                                                 quanergy::client::DataPacketParser04> ParserType;  // PARSER_04_INDEX
   enum
   {
     PARSER_00_INDEX = 0,
-    PARSER_01_INDEX = 1
+    PARSER_01_INDEX = 1,
+    PARSER_04_INDEX = 2
   };
 
   typedef quanergy::client::PacketParserModule<ParserType> ParserModuleType;

diff --git a/src/client_node.cpp b/src/client_node.cpp
@@ -121,6 +121,8 @@ void ClientNode::run()
   parser.get<PARSER_00_INDEX>().setReturnSelection(settings_.return_selection);
   parser.get<PARSER_00_INDEX>().setCloudSizeLimits(settings_.minCloudSize,settings_.maxCloudSize);
   parser.get<PARSER_01_INDEX>().setFrameId(settings_.frame);
+  parser.get<PARSER_04_INDEX>().setFrameId(settings_.frame);
+  parser.get<PARSER_04_INDEX>().setCloudSizeLimits(settings_.minCloudSize,settings_.maxCloudSize);
   dFilter.setMaximumDistanceThreshold(settings_.max);
   dFilter.setMinimumDistanceThreshold(settings_.min);
   for (int i = 0; i < quanergy::client::M8_NUM_LASERS; i++)