kwan-ho-kim / ouster-ros2_humble

ouster-ros2_humble

Requirements

Using rosdep

rosdep install --from-paths $OUSTER_ROS_PATH -y --ignore-src

Linux

sudo apt install -y             \
    ros-$ROS_DISTRO-pcl-ros     \
    ros-$ROS_DISTRO-tf2-eigen   \
    ros-$ROS_DISTRO-rviz2

sudo apt install -y         \
    build-essential         \
    libeigen3-dev           \
    libjsoncpp-dev          \
    libspdlog-dev           \
    libcurl4-openssl-dev    \
    cmake                   \
    python3-colcon-common-extensions

Getting Started

mkdir -p ros2_ws/src && cd ros2_ws/src
git clone -b ros2 --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git

source /opt/ros/<ros-distro>/setup.bash # replace ros-distro with 'rolling', 'humble', or 'iron'

cd ros2_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

source ros2_ws/install/setup.bash

Sensor Mode

ros2 launch ouster_ros sensor.launch.xml    \
    sensor_hostname:=<sensor host name>

The equivalent python launch file is:

ros2 launch ouster_ros driver.launch.py    \
    params_file:=<path to params yaml file>

Recording Mode

ros2 launch ouster_ros record.launch.xml    \
    sensor_hostname:=<sensor host name>     \
    bag_file:=<optional bag file name>      \
    metadata:=<json file name>              # optional

Replay Mode

ros2 launch ouster_ros replay.launch.xml    \
    bag_file:=<path to rosbag file>         \
    metadata:=<json file name>              # optional if bag file has /metadata topic

Multicast Mode (experimental)

roslaunch ouster_ros sensor_mtp.launch.xml  \
    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

roslaunch ouster_ros sensor_mtp.launch.xml  \
    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

GetMetadata

ros2 service call /ouster/get_metadata ouster_srvs/srv/GetMetadata

GetConfig

ros2 service call /ouster/get_config ouster_srvs/srv/GetConfig

SetConfig

ros2 service call /ouster/set_config ouster_srvs/srv/SetConfig \
    "{config_file: 'some_config.json'}"

Reset

ros2 service call /ouster/reset std_srvs/srv/Empty

from https://github.com/ouster-lidar/ouster-ros.git