feat<all> 1.add cloud_raw confidence filter threshold to config yaml}

2.update sdk for ntp functions
          3.add set camera FPS function in yaml(10FPS,14.5FPS)
          4.release ros driver 0.9.0
          5.Add time alignment mode for odin1 device synchronization with host
          6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
          7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
          8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
          9.Add LIDAR_DT_NTP data type for receiving
          10.add imu data record
          11.add cloud reprojection demo

launch_ROS2/odin1_ros2.launch.py

@@ -50,6 +50,21 @@ def generate_launch_description():
         output='screen',
         parameters=[pcd2depth_params]
     )
+
+    # Cloud reprojection node
+    reprojection_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
+    with open(reprojection_config_path, 'r') as f:
+        reprojection_params = yaml.safe_load(f) 
+    reprojection_calib_path = os.path.join(package_dir, 'config', 'calib.yaml')
+    reprojection_params['calib_file_path'] = reprojection_calib_path 
+    cloud_reprojection_node = Node(
+        package='odin_ros_driver',
+        executable='cloud_reprojection_ros2_node',  
+        name='cloud_reprojection_ros2_node',
+        output='screen',
+        parameters=[reprojection_params]
+    )
+
     # Create RViz2 node - loads specified configuration file
     rviz_node = Node(
         package='rviz2',
@@ -65,6 +80,7 @@ def generate_launch_description():
     ld.add_action(rviz_config_arg)  # Add RViz configuration argument
     ld.add_action(host_sdk_node)
     ld.add_action(pcd2depth_node)
+    ld.add_action(cloud_reprojection_node)
     ld.add_action(rviz_node)  # Add RViz node
     
     return ld