<add> 1. add per-point time-offset for raw dtof point cloud data; 2. add addtional entries for odometry data; 3. adapt new rgb image data format from device; 4. improved connection stability. also removed some deprecated api.

src/host_sdk_sample.cpp

@@ -28,7 +28,7 @@
     #include <ros/package.h>
     #include <ros/ros.h> 
 #endif
-#define ros_driver_version "0.3.1"
+#define ros_driver_version "0.4.0"
 // Global variable declarations
 static device_handle odinDevice = nullptr;
 static std::atomic<bool> deviceConnected(false);
@@ -65,6 +65,26 @@ int g_sendcloudslam = 0;
 int g_sendcloudrender = 0;
 int g_sendrgb_compressed = 0;
 
+class RosNodeControlImpl : public RosNodeControlInterface {
+    public:
+        void setDtofSubframeODR(int interval) override {
+            dtof_subframe_interval_time = interval;
+        }
+        
+        int getDtofSubframeODR() const override {
+            return dtof_subframe_interval_time;
+        }
+    
+    private:
+        int dtof_subframe_interval_time = 0;
+    };
+    
+static RosNodeControlImpl g_rosNodeControlImpl;
+
+RosNodeControlInterface* getRosNodeControl() {
+    return &g_rosNodeControlImpl;
+}
+
 void clear_all_queues();
 
 // detect USB3.0
@@ -406,7 +426,8 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        if (lidar_start_stream(odinDevice, type)) {
+        uint32_t dtof_subframe_odr = 0;
+        if (lidar_start_stream(odinDevice, type, dtof_subframe_odr)) {
             #ifdef ROS2
                 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Start stream failed");
             #else
@@ -418,6 +439,10 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
+        if (dtof_subframe_odr > 0) {
+            g_rosNodeControlImpl.setDtofSubframeODR(dtof_subframe_odr);
+        }
+        
         if (g_sendrgb) {
             lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_RGB);
         }