Interpolation node dying while using Ouster OS0-32U Lidar instead of Velo.

[kumar-abhina]

Greetings, I have been following this repo for quite a while as a part of my project. I am using Ouster OS0-32U lidar which has a 32 laser scans (instead of 16 for velo puck). I have changed each and every subscribing and publishing topics as per my dataset. Below is my setup:

• Ouster OS0-32U lidar
• Intelrealsense 435D Stereo Camera. As per my data I ahv also followed the previous inssues here and here but they don't seem to solve our issues. After everything, the interpolation node is dying because of some unknown reason. I am kind of aware about the issue (not sure though) but I don't know how and where I can perform these changes. So the Velo lidar has 4 channels whereas the Ouster lidar has 9 channels as per the datasheet. Below is my output. This code works .

[EPVelasco]

Hi, the number of channels of the sensor does not interfere in the interpolation of the data, since only the interpolation is done in a range image using the X,Y,Z channels.
I would like to see the modifications you have made to the repository, could you create a fork of the repository so I can review it? I think the error occurs when running through one of the for loops, but I don't know where in the code.