Official ROS1/ROS2 drivers for Ouster sensors

ROS1 (melodic/noetic) | ROS2 (rolling/humble) | ROS2 (foxy)

ROS Version	Build Status (Linux)
ROS1 (melodic/noetic)
ROS2 (rolling/humble)
ROS2 (foxy)

Overview
Requirements
Getting Started
Usage
- Launching Nodes
- Invoking Services
License

Overview

This ROS package provide support for all Ouster sensors with FW v2.0 or later. Upon launch the driver will configure and connect to the selected sensor device, once connected the driver will handle incoming IMU and lidar packets, decode lidar frames and publish corresponding ROS messages on the topics of /ouster/imu and /ouster/points. In the case the sensor supports dual return and it was configured to use this capability, then another topic will published named /ouster/points2 which corresponds to the second point cloud.

Requirements

This package only supports Melodic and Noetic ROS distros. Please refer to ROS online documentation on how to setup ros on your machine before proceeding with the remainder of this guide.

In addition to the base ROS installation, the following ROS packages are required:

sudo apt install -y                     \
    ros-$ROS_DISTRO-pcl-ros             \
    ros-$ROS_DISTRO-rviz

where $ROS-DISTRO is either melodic or noetic.

Note
Installing ros-$ROS_DISTRO-rviz package is optional in case you didn't need to visualize the point cloud using rviz but remember to always set viz launch arg to false.

Additional dependenices:

sudo apt install -y         \
    build-essential         \
    libeigen3-dev           \
    libjsoncpp-dev          \
    libspdlog-dev           \
    libcurl4-openssl-dev    \
    cmake

Note
You may choose a different ssl backend for the curl library such as libcurl4-gnutls-dev or libcurl4-nss-dev

Getting Started

To build the driver using ROS you need to clone the project into the src folder of a catkin workspace as shown below:

mkdir -p catkin_ws/src && cd catkin_ws/src
git clone --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git

Next to compile the driver you need to source the ROS environemt into the active termainl:

source /opt/ros/<ros-distro>/setup.bash # replace ros-distro with 'melodic' or 'noetic'

Finally, invoke catkin_make command from within the catkin workspace as shown below:

cd catkin_ws
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release

Specifying Release as the build type is important to have a reasonable performance of the driver.

Usage

Launching Nodes

The package supports three modes of interaction, you can connect to a live senosr, replay a recorded bag or record a new bag file using the corresponding launch files. Recently, we have added a new mode that supports multicast. The commands are listed below:

Sensor Mode

roslaunch ouster_ros sensor.launch      \
    sensor_hostname:=<sensor host name> \
    metadata:=<json file name>              # metadata is optional

Replay Mode

roslaunch ouster_ros replay.launch      \
    metadata:=<json file name>          \
    bag_file:=<path to rosbag file>

Recording Mode

roslaunch ouster_ros record.launch      \
    sensor_hostname:=<sensor host name> \
    metadata:=<json file name>          \
    bag_file:=<optional bag file name>

Multicast Mode (experimental)

The multicast launch mode supports configuring the sensor to broadcast lidar packets from the same sensor (live) to multiple active clients. You initiate this mode by using sensor_mtp.launch file to start the node. You will need to specify a valid multicast group for the udp_dest argument which the sensor is going to broadcast data to it. You will also need to set mtp_main argument to true, this is need to configure the sensor with the specified udp_dest and any other sensor settings. You can control on which ip (IP4 only) you wish to receive the data on this machine from the multicast group using the mtp_dest argument follows:

roslaunch ouster_ros sensor_mtp.launch      \
    sensor_hostname:=<sensor host name>     \
    udp_dest:=<multicast group ip (ipv4)>   \
    mtp_main:=true                          \
    mtp_dest:=<client ip to receive data>   # mtp_dest is optional

Using a different machine that belongs to the same netwok subnet, you can start another instance of the client to start receiving sensor messages through the multicast group as shown below (note that mtp_main is set to false):

roslaunch ouster_ros sensor_mtp.launch      \
    sensor_hostname:=<sensor host name>     \
    udp_dest:=<multicast group ip (ipv4)>   \
    mtp_main:=false                         \
    mtp_dest:=<client ip to receive data>   # mtp_dest is optional

Note: In both cases the mtp_dest is optional and if left unset the client will utilize the first available interface.

Invoking Services

To execute any of the following service, first you need to open a new terminal and source the castkin workspace again by running the command: source catkin_ws/devel/setup.bash

GetMetadata

To get metadata while connected to a live sensor or during a replay session invoke the following command:

rosservice call /ouster/get_metadata

GetConfig

To get the current config of a live sensor, invoke the command:

rosservice call /ouster/get_config

SetConfig (experimental)

To change config via a file while connected to a live sensor, invoke the command:

rosservice call /ouster/set_config "config_file: '<path to sensor config>'"

Note Changing settings is not yet fully support during a reset operation (more on this)

For further detailed instructions refer to the main guide

License

License File

kuafuliu / ouster-ros