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ouster_ros package from ouster-ros repoouster_ros ouster_sensor_msgs |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.11.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ouster-lidar/ouster-ros.git |
| VCS Type | git |
| VCS Version | iron-devel |
| Last Updated | 2023-11-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Ouster ROS2 driver
Additional Links
No additional links.
Maintainers
- Ussama Naal
- ouster developers
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package ouster_ros
0.11.1 (2023-11-01)
- breaking: rename ouster_msgs to ouster_sensor_msgs
- shutdown the driver when unable to connect to the sensor on startup
0.10.4 (2023-08-31)
- breaking: publish PCL point clouds destaggered.
- introduced a new launch file parameter
ptp_utc_tai_offsetwhich represent offset in seconds to be applied to all ROS messages the driver generates whenTIME_FROM_PTP_1588timestamp mode is used. - fix: destagger columns timestamp when generating destaggered point clouds.
- Use the local copy of the LICENSE file during install
- Contributors: Ussama Naal
0.10.3 (2023-08-15)
- Add per package LICENSE file
- manifest symbolic links as files
- Contributors: Ussama Naal
0.10.2 (2023-08-15)
- SW-5396: publish point cloud in destaggered form (#182)
- Quick implementtion of cloud destaggering
- Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros
- Update changelog and version
- Reformat changelog
- SW-5345: merge-ouster-srvs into ouster-msgs (#176)
- Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements
- Update launch file name within the dockerfile
- Update CHANGELOG.txt
- Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs
- Use angle brackets for external headers
- Remove unused library include
- Remove unused launch params in sensor_mtp.launch
- Fix the table of contents
- SW-5167: follow ups from
SW-5167-fix-black-columns-when-recording-under-ros-foxy (#163)
* Initialize point_cloud_frame with an empty string + and expose
point_cloud_frame through launch xml files + Remove
unused/duplicate param definitions + Update descriptions
- Correct the name of the node to be activated for merged node
- ROS compatibility mode dual returns fix (#156)
- Separately initialize vector elements
- Update changelog and package version
- Properly check for the write_text_to_file success
- ROS2 compatibility mode (#146)
- Factoring out Imu and Lidar packets handling
* Added os_driver which combines os_sensor and os_cloud + Added required launch files + Better abstraction of classes + Simplified threading logic + Added thread safe implemention of ring buffer (not hooked yet)
- Move down pragma once in the handlers
- Adding unit tests for the ThreadSafeRingBuffer
- Add one more case to the unit test of ThreadSafeRingBuffer
- Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver
- Add an option to select the point_cloud frame
- Keep transforms in Lidar Frame by default with option to switch
- Formatting os_sensor and os_driver
- Provide support for parsing the community driver params file with approprite launch file
- Factor out tf transforms broadcast
- Formatting imu and lidar packet handlers
- Fix build issue
- Incorporate LaserScan message composition
- Refactor a bit and add the ability to process and publish point clouds and laser scans
- Restor os_cloud_node ability to process point clouds
- Parse proc_mask and hook to launch files and config
- Add support for the selecting IMU + create topics/subs when their respective flags enabled
- Reduce sync operations + restore sensor reset/reactivation
- Add the ability to override current qos settings
- Add minor note
- More detailed explanation about the IMG node
- Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files
- Expose use_system_default_qos parameter to xml launch file and use proper defaults
* Update minimal readme file and utilize os_driver by default + add proc_mask to xml file + Remove experminal marker from set_config and reset ros services
- Update CHANGELOG.rst and package version
* Apply && to accepted method of ThreadSafeRingBuffer + nits and code formatting
- Add missing parameter declaration
- Re-formatting CHANGELOG a bit
* Added ImageProcessor to support IMG flag + Define new argument scan_ring
- Expose scan_ring param and update relevant params description
- Added notes to size(), empty(), full()
- remove deprecated methods + naming nits
- Update ChangeLog + Fix load_metadata_from_file
- Try out building against Iron + revise sensor_mtp.launch
- Correct the params file name + document params
- Carry over fixes from foxy branch
- Update README.md to mention compatibilty mode
- SW-4997: Switch from using ROS timers to thread for polling lidar
data (#140)
- Switch from using ROS timers to thread for polling
- Specify param defaults for non-required params
- SW-4972: merge switching to static transform publisher contribution
(#124)
- use static tf broadcaster for ros2 (#112)
- use separate params for tf frames
- send static transforms once
- Disable static transform publishers and update changelog and package version
- Disable rviz static transform publisher
- Remove rviz static transform publisher hack
* Remove left out variables ---------Co-authored-by: Adam Aposhian <<adam.l.aposhian@gmail.com>>
- SW-4859: enable having multiple components of same-type under same
process (#108)
- Remove the use of static vars within components
- Resolve conflicts and update changelog and version
- Fix a typo 'instance'
- Drop service_msgs dep (#117)
- SW-4924: Replace tf_prefix by sensor_frame lidar_frame and
imu_frame parameters (#115)
* deprecate tf_prefix from os_cloud (#96) Co-authored-by:
Guillaume Doisy <<guillaume@dexory.com>>
* Squashed commit of the following: commit
6280bfa1178bdee4fe695cb4752efd5ff15279db Author: Ussama Naal
<<ussama.naal@ouster.io>> Date: Fri Apr 28 07:54:34 2023 -0700
Merge branch 'deprecate_tf_prefix' commit
35f2fd2ba50eaf3e4b65909269eb9609bff7a010 Author: Guillaume Doisy
<<guillaume@dexory.com>> Date: Mon Apr 3 18:12:44 2023 +0100
deprecate tf_prefix from os_cloud
- Update ChangeLog and package version
- Propagate the parameters to launch files
* Add a TODO note ---------Co-authored-by: Guillaume Doisy <<guillaume@dexory.com>>
- SW-4837: replace the use of ros service to retrieve sensor metadata
with latched topics (#102)
- Working port of latched metadata topic on ros2
- Update replay and record launch files to providing metadata file an optional parameter
- Remove extra white space in replay record command
- Undo changes to the metadata-qos-override
- minor code syntax improvements
- Add missing metadata topic when bag file isn't specified
- Use concise syntax and formatting
- Reverse logic for easier read
- Apply node transition if it exists
- Explicity set cxx compile standard if the env isn't (#99)
- SW-4747: update the ros 2 driver(s) to the 20230403 sdk release
(#94)
- Update to the latest ouster sdk
- Forward multicast funcitonality + Other improvements and fixes
- Add service_msgs dependency to package.xml
- Correct sensor_mtp.launch for ros2 launch file format
- Move to most recent SDK update
- Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan
- Launch file rename and README corrections
- Remove the duplicate sensor_info object
- Merge pull request #51 from ouster-lidar/SW-4342-prototype-ros-2-driver ROS2 driver MVP (beta release)
- more sensor configuration change handling
- Correct the logic around the detection of init_id change
- Wire set_config service call into node lifecycle
- Address typos and as to install rviz2 instead
- Address potential vulnerability when saving metadata to file
- Restructure reset operation on init_id change
- Use initialization list when constructing std::atomic
- When non legacy lidar profile is in use sniff lidar packes and perform self reset on init_id change event
- Add a reset service to sensor node and cycle the node upon invocation
- Uodate readme title and cleanup parameters yaml
- Add specific ros2 installation and usage instructions + other refactor and corrections
- code formatting
- Fix a bug caused by the type of point_cloud msg
- correct lidar_scan rename
- Code refactor and formatting
- Implement node lifecycle management for sensor node + refactoring launch files + rivz launch arg for overriding default config
- move ouster-sdk to a subfolder of ouster-ros
- More build fixes
- Add libtins as a dependency and flush out changelog
- Completely stripout topic_tools
- fix docker build and target supported distros
- launch file cleanup
- Remove the extra '
- Add a note about missing support of parameterize ros namespace when using launch.py
- Restore scoping ouster_ros nodes and topics to a configurable namesapce when using xml launch format
- Address the issue of missing sensor frame and/or old tf data when launching rviz2 from same launch file + correct sensor name in rviz
- Add some level of robustness around invoking the get_metadata service from processing nodes
- Re-enable replay functionality + address an issue where the os_replay node lose fields when load the metadata from file.
- Restore recording functionality
- Formulate the launch files in xml format + Rename separate to independent
- Drop setting cxx stanard in ouster_ros + refactor
- Enable running rviz from same launch file conditionally
- Base point cloud color scheme on range values
- Factor out parameters into a shared parameters.yaml file
- Utilize SensorDataQoS and add RVIZ launch file + code refactor
- Make connecting to get_metadata service robust + Drop TimerAction from the launch file Add ProcessingNode abstract class for os_cloud and os_image + Rename files to reflect the new changes Drop deprecated scan_to_cloud method + Code refactor and formatting
- Code refactor and formatting, correct msg index of 2nd cloud
- Auto generate standalone nodes from components
- Move service definition into a separate ros2 package
- Correct replay component name, replace bind with lambda
- Rename namesapce and enable replay mode
- Fix component discovery
- More refactoring and code readabilty
- Tidy up the cmake file
- Drop std_msgs
- Drop std_msgs
- ROS2 driver prototype
- Contributors: Ussama Naal
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
- launch/record.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor_mtp.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest
- mtp_dest [default: ]
- mtp_main [default: false]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/replay.launch.xml
-
- ouster_ns [default: ouster]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/rviz.launch.xml
-
- ouster_ns [default: ouster]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- launch/sensor.independent.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ouster_ros at Robotics Stack Exchange
|
|
ouster_ros package from ouster-ros repoouster_ros ouster_sensor_msgs |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.11.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ouster-lidar/ouster-ros.git |
| VCS Type | git |
| VCS Version | rolling-devel |
| Last Updated | 2023-11-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Ouster ROS2 driver
Additional Links
No additional links.
Maintainers
- Ussama Naal
- ouster developers
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package ouster_ros
0.11.1 (2023-11-01)
- breaking: rename ouster_msgs to ouster_sensor_msgs
- shutdown the driver when unable to connect to the sensor on startup
0.10.4 (2023-08-31)
- breaking: publish PCL point clouds destaggered.
- introduced a new launch file parameter
ptp_utc_tai_offsetwhich represent offset in seconds to be applied to all ROS messages the driver generates whenTIME_FROM_PTP_1588timestamp mode is used. - fix: destagger columns timestamp when generating destaggered point clouds.
- Use the local copy of the LICENSE file during install
- Contributors: Ussama Naal
0.10.3 (2023-08-15)
- Add per package LICENSE file
- manifest symbolic links as files
- Contributors: Ussama Naal
0.10.2 (2023-08-15)
- SW-5396: publish point cloud in destaggered form (#182)
- Quick implementtion of cloud destaggering
- Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros
- Update changelog and version
- Reformat changelog
- SW-5345: merge-ouster-srvs into ouster-msgs (#176)
- Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements
- Update launch file name within the dockerfile
- Update CHANGELOG.txt
- Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs
- Use angle brackets for external headers
- Remove unused library include
- Remove unused launch params in sensor_mtp.launch
- Fix the table of contents
- SW-5167: follow ups from
SW-5167-fix-black-columns-when-recording-under-ros-foxy (#163)
* Initialize point_cloud_frame with an empty string + and expose
point_cloud_frame through launch xml files + Remove
unused/duplicate param definitions + Update descriptions
- Correct the name of the node to be activated for merged node
- ROS compatibility mode dual returns fix (#156)
- Separately initialize vector elements
- Update changelog and package version
- Properly check for the write_text_to_file success
- ROS2 compatibility mode (#146)
- Factoring out Imu and Lidar packets handling
* Added os_driver which combines os_sensor and os_cloud + Added required launch files + Better abstraction of classes + Simplified threading logic + Added thread safe implemention of ring buffer (not hooked yet)
- Move down pragma once in the handlers
- Adding unit tests for the ThreadSafeRingBuffer
- Add one more case to the unit test of ThreadSafeRingBuffer
- Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver
- Add an option to select the point_cloud frame
- Keep transforms in Lidar Frame by default with option to switch
- Formatting os_sensor and os_driver
- Provide support for parsing the community driver params file with approprite launch file
- Factor out tf transforms broadcast
- Formatting imu and lidar packet handlers
- Fix build issue
- Incorporate LaserScan message composition
- Refactor a bit and add the ability to process and publish point clouds and laser scans
- Restor os_cloud_node ability to process point clouds
- Parse proc_mask and hook to launch files and config
- Add support for the selecting IMU + create topics/subs when their respective flags enabled
- Reduce sync operations + restore sensor reset/reactivation
- Add the ability to override current qos settings
- Add minor note
- More detailed explanation about the IMG node
- Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files
- Expose use_system_default_qos parameter to xml launch file and use proper defaults
* Update minimal readme file and utilize os_driver by default + add proc_mask to xml file + Remove experminal marker from set_config and reset ros services
- Update CHANGELOG.rst and package version
* Apply && to accepted method of ThreadSafeRingBuffer + nits and code formatting
- Add missing parameter declaration
- Re-formatting CHANGELOG a bit
* Added ImageProcessor to support IMG flag + Define new argument scan_ring
- Expose scan_ring param and update relevant params description
- Added notes to size(), empty(), full()
- remove deprecated methods + naming nits
- Update ChangeLog + Fix load_metadata_from_file
- Try out building against Iron + revise sensor_mtp.launch
- Correct the params file name + document params
- Carry over fixes from foxy branch
- Update README.md to mention compatibilty mode
- SW-4997: Switch from using ROS timers to thread for polling lidar
data (#140)
- Switch from using ROS timers to thread for polling
- Specify param defaults for non-required params
- SW-4972: merge switching to static transform publisher contribution
(#124)
- use static tf broadcaster for ros2 (#112)
- use separate params for tf frames
- send static transforms once
- Disable static transform publishers and update changelog and package version
- Disable rviz static transform publisher
- Remove rviz static transform publisher hack
* Remove left out variables ---------Co-authored-by: Adam Aposhian <<adam.l.aposhian@gmail.com>>
- SW-4859: enable having multiple components of same-type under same
process (#108)
- Remove the use of static vars within components
- Resolve conflicts and update changelog and version
- Fix a typo 'instance'
- Drop service_msgs dep (#117)
- SW-4924: Replace tf_prefix by sensor_frame lidar_frame and
imu_frame parameters (#115)
* deprecate tf_prefix from os_cloud (#96) Co-authored-by:
Guillaume Doisy <<guillaume@dexory.com>>
* Squashed commit of the following: commit
6280bfa1178bdee4fe695cb4752efd5ff15279db Author: Ussama Naal
<<ussama.naal@ouster.io>> Date: Fri Apr 28 07:54:34 2023 -0700
Merge branch 'deprecate_tf_prefix' commit
35f2fd2ba50eaf3e4b65909269eb9609bff7a010 Author: Guillaume Doisy
<<guillaume@dexory.com>> Date: Mon Apr 3 18:12:44 2023 +0100
deprecate tf_prefix from os_cloud
- Update ChangeLog and package version
- Propagate the parameters to launch files
* Add a TODO note ---------Co-authored-by: Guillaume Doisy <<guillaume@dexory.com>>
- SW-4837: replace the use of ros service to retrieve sensor metadata
with latched topics (#102)
- Working port of latched metadata topic on ros2
- Update replay and record launch files to providing metadata file an optional parameter
- Remove extra white space in replay record command
- Undo changes to the metadata-qos-override
- minor code syntax improvements
- Add missing metadata topic when bag file isn't specified
- Use concise syntax and formatting
- Reverse logic for easier read
- Apply node transition if it exists
- Explicity set cxx compile standard if the env isn't (#99)
- SW-4747: update the ros 2 driver(s) to the 20230403 sdk release
(#94)
- Update to the latest ouster sdk
- Forward multicast funcitonality + Other improvements and fixes
- Add service_msgs dependency to package.xml
- Correct sensor_mtp.launch for ros2 launch file format
- Move to most recent SDK update
- Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan
- Launch file rename and README corrections
- Remove the duplicate sensor_info object
- Merge pull request #51 from ouster-lidar/SW-4342-prototype-ros-2-driver ROS2 driver MVP (beta release)
- more sensor configuration change handling
- Correct the logic around the detection of init_id change
- Wire set_config service call into node lifecycle
- Address typos and as to install rviz2 instead
- Address potential vulnerability when saving metadata to file
- Restructure reset operation on init_id change
- Use initialization list when constructing std::atomic
- When non legacy lidar profile is in use sniff lidar packes and perform self reset on init_id change event
- Add a reset service to sensor node and cycle the node upon invocation
- Uodate readme title and cleanup parameters yaml
- Add specific ros2 installation and usage instructions + other refactor and corrections
- code formatting
- Fix a bug caused by the type of point_cloud msg
- correct lidar_scan rename
- Code refactor and formatting
- Implement node lifecycle management for sensor node + refactoring launch files + rivz launch arg for overriding default config
- move ouster-sdk to a subfolder of ouster-ros
- More build fixes
- Add libtins as a dependency and flush out changelog
- Completely stripout topic_tools
- fix docker build and target supported distros
- launch file cleanup
- Remove the extra '
- Add a note about missing support of parameterize ros namespace when using launch.py
- Restore scoping ouster_ros nodes and topics to a configurable namesapce when using xml launch format
- Address the issue of missing sensor frame and/or old tf data when launching rviz2 from same launch file + correct sensor name in rviz
- Add some level of robustness around invoking the get_metadata service from processing nodes
- Re-enable replay functionality + address an issue where the os_replay node lose fields when load the metadata from file.
- Restore recording functionality
- Formulate the launch files in xml format + Rename separate to independent
- Drop setting cxx stanard in ouster_ros + refactor
- Enable running rviz from same launch file conditionally
- Base point cloud color scheme on range values
- Factor out parameters into a shared parameters.yaml file
- Utilize SensorDataQoS and add RVIZ launch file + code refactor
- Make connecting to get_metadata service robust + Drop TimerAction from the launch file Add ProcessingNode abstract class for os_cloud and os_image + Rename files to reflect the new changes Drop deprecated scan_to_cloud method + Code refactor and formatting
- Code refactor and formatting, correct msg index of 2nd cloud
- Auto generate standalone nodes from components
- Move service definition into a separate ros2 package
- Correct replay component name, replace bind with lambda
- Rename namesapce and enable replay mode
- Fix component discovery
- More refactoring and code readabilty
- Tidy up the cmake file
- Drop std_msgs
- Drop std_msgs
- ROS2 driver prototype
- Contributors: Ussama Naal
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
- launch/record.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor_mtp.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest
- mtp_dest [default: ]
- mtp_main [default: false]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/replay.launch.xml
-
- ouster_ns [default: ouster]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/rviz.launch.xml
-
- ouster_ns [default: ouster]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- launch/sensor.independent.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ouster_ros at Robotics Stack Exchange
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ouster_ros package from ouster-ros repoouster_ros ouster_sensor_msgs |
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Package Summary
| Tags | No category tags. |
| Version | 0.11.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ouster-lidar/ouster-ros.git |
| VCS Type | git |
| VCS Version | rolling-devel |
| Last Updated | 2023-11-01 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Ouster ROS2 driver
Additional Links
No additional links.
Maintainers
- Ussama Naal
- ouster developers
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package ouster_ros
0.11.1 (2023-11-01)
- breaking: rename ouster_msgs to ouster_sensor_msgs
- shutdown the driver when unable to connect to the sensor on startup
0.10.4 (2023-08-31)
- breaking: publish PCL point clouds destaggered.
- introduced a new launch file parameter
ptp_utc_tai_offsetwhich represent offset in seconds to be applied to all ROS messages the driver generates whenTIME_FROM_PTP_1588timestamp mode is used. - fix: destagger columns timestamp when generating destaggered point clouds.
- Use the local copy of the LICENSE file during install
- Contributors: Ussama Naal
0.10.3 (2023-08-15)
- Add per package LICENSE file
- manifest symbolic links as files
- Contributors: Ussama Naal
0.10.2 (2023-08-15)
- SW-5396: publish point cloud in destaggered form (#182)
- Quick implementtion of cloud destaggering
- Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros
- Update changelog and version
- Reformat changelog
- SW-5345: merge-ouster-srvs into ouster-msgs (#176)
- Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements
- Update launch file name within the dockerfile
- Update CHANGELOG.txt
- Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs
- Use angle brackets for external headers
- Remove unused library include
- Remove unused launch params in sensor_mtp.launch
- Fix the table of contents
- SW-5167: follow ups from
SW-5167-fix-black-columns-when-recording-under-ros-foxy (#163)
* Initialize point_cloud_frame with an empty string + and expose
point_cloud_frame through launch xml files + Remove
unused/duplicate param definitions + Update descriptions
- Correct the name of the node to be activated for merged node
- ROS compatibility mode dual returns fix (#156)
- Separately initialize vector elements
- Update changelog and package version
- Properly check for the write_text_to_file success
- ROS2 compatibility mode (#146)
- Factoring out Imu and Lidar packets handling
* Added os_driver which combines os_sensor and os_cloud + Added required launch files + Better abstraction of classes + Simplified threading logic + Added thread safe implemention of ring buffer (not hooked yet)
- Move down pragma once in the handlers
- Adding unit tests for the ThreadSafeRingBuffer
- Add one more case to the unit test of ThreadSafeRingBuffer
- Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver
- Add an option to select the point_cloud frame
- Keep transforms in Lidar Frame by default with option to switch
- Formatting os_sensor and os_driver
- Provide support for parsing the community driver params file with approprite launch file
- Factor out tf transforms broadcast
- Formatting imu and lidar packet handlers
- Fix build issue
- Incorporate LaserScan message composition
- Refactor a bit and add the ability to process and publish point clouds and laser scans
- Restor os_cloud_node ability to process point clouds
- Parse proc_mask and hook to launch files and config
- Add support for the selecting IMU + create topics/subs when their respective flags enabled
- Reduce sync operations + restore sensor reset/reactivation
- Add the ability to override current qos settings
- Add minor note
- More detailed explanation about the IMG node
- Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files
- Expose use_system_default_qos parameter to xml launch file and use proper defaults
* Update minimal readme file and utilize os_driver by default + add proc_mask to xml file + Remove experminal marker from set_config and reset ros services
- Update CHANGELOG.rst and package version
* Apply && to accepted method of ThreadSafeRingBuffer + nits and code formatting
- Add missing parameter declaration
- Re-formatting CHANGELOG a bit
* Added ImageProcessor to support IMG flag + Define new argument scan_ring
- Expose scan_ring param and update relevant params description
- Added notes to size(), empty(), full()
- remove deprecated methods + naming nits
- Update ChangeLog + Fix load_metadata_from_file
- Try out building against Iron + revise sensor_mtp.launch
- Correct the params file name + document params
- Carry over fixes from foxy branch
- Update README.md to mention compatibilty mode
- SW-4997: Switch from using ROS timers to thread for polling lidar
data (#140)
- Switch from using ROS timers to thread for polling
- Specify param defaults for non-required params
- SW-4972: merge switching to static transform publisher contribution
(#124)
- use static tf broadcaster for ros2 (#112)
- use separate params for tf frames
- send static transforms once
- Disable static transform publishers and update changelog and package version
- Disable rviz static transform publisher
- Remove rviz static transform publisher hack
* Remove left out variables ---------Co-authored-by: Adam Aposhian <<adam.l.aposhian@gmail.com>>
- SW-4859: enable having multiple components of same-type under same
process (#108)
- Remove the use of static vars within components
- Resolve conflicts and update changelog and version
- Fix a typo 'instance'
- Drop service_msgs dep (#117)
- SW-4924: Replace tf_prefix by sensor_frame lidar_frame and
imu_frame parameters (#115)
* deprecate tf_prefix from os_cloud (#96) Co-authored-by:
Guillaume Doisy <<guillaume@dexory.com>>
* Squashed commit of the following: commit
6280bfa1178bdee4fe695cb4752efd5ff15279db Author: Ussama Naal
<<ussama.naal@ouster.io>> Date: Fri Apr 28 07:54:34 2023 -0700
Merge branch 'deprecate_tf_prefix' commit
35f2fd2ba50eaf3e4b65909269eb9609bff7a010 Author: Guillaume Doisy
<<guillaume@dexory.com>> Date: Mon Apr 3 18:12:44 2023 +0100
deprecate tf_prefix from os_cloud
- Update ChangeLog and package version
- Propagate the parameters to launch files
* Add a TODO note ---------Co-authored-by: Guillaume Doisy <<guillaume@dexory.com>>
- SW-4837: replace the use of ros service to retrieve sensor metadata
with latched topics (#102)
- Working port of latched metadata topic on ros2
- Update replay and record launch files to providing metadata file an optional parameter
- Remove extra white space in replay record command
- Undo changes to the metadata-qos-override
- minor code syntax improvements
- Add missing metadata topic when bag file isn't specified
- Use concise syntax and formatting
- Reverse logic for easier read
- Apply node transition if it exists
- Explicity set cxx compile standard if the env isn't (#99)
- SW-4747: update the ros 2 driver(s) to the 20230403 sdk release
(#94)
- Update to the latest ouster sdk
- Forward multicast funcitonality + Other improvements and fixes
- Add service_msgs dependency to package.xml
- Correct sensor_mtp.launch for ros2 launch file format
- Move to most recent SDK update
- Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan
- Launch file rename and README corrections
- Remove the duplicate sensor_info object
- Merge pull request #51 from ouster-lidar/SW-4342-prototype-ros-2-driver ROS2 driver MVP (beta release)
- more sensor configuration change handling
- Correct the logic around the detection of init_id change
- Wire set_config service call into node lifecycle
- Address typos and as to install rviz2 instead
- Address potential vulnerability when saving metadata to file
- Restructure reset operation on init_id change
- Use initialization list when constructing std::atomic
- When non legacy lidar profile is in use sniff lidar packes and perform self reset on init_id change event
- Add a reset service to sensor node and cycle the node upon invocation
- Uodate readme title and cleanup parameters yaml
- Add specific ros2 installation and usage instructions + other refactor and corrections
- code formatting
- Fix a bug caused by the type of point_cloud msg
- correct lidar_scan rename
- Code refactor and formatting
- Implement node lifecycle management for sensor node + refactoring launch files + rivz launch arg for overriding default config
- move ouster-sdk to a subfolder of ouster-ros
- More build fixes
- Add libtins as a dependency and flush out changelog
- Completely stripout topic_tools
- fix docker build and target supported distros
- launch file cleanup
- Remove the extra '
- Add a note about missing support of parameterize ros namespace when using launch.py
- Restore scoping ouster_ros nodes and topics to a configurable namesapce when using xml launch format
- Address the issue of missing sensor frame and/or old tf data when launching rviz2 from same launch file + correct sensor name in rviz
- Add some level of robustness around invoking the get_metadata service from processing nodes
- Re-enable replay functionality + address an issue where the os_replay node lose fields when load the metadata from file.
- Restore recording functionality
- Formulate the launch files in xml format + Rename separate to independent
- Drop setting cxx stanard in ouster_ros + refactor
- Enable running rviz from same launch file conditionally
- Base point cloud color scheme on range values
- Factor out parameters into a shared parameters.yaml file
- Utilize SensorDataQoS and add RVIZ launch file + code refactor
- Make connecting to get_metadata service robust + Drop TimerAction from the launch file Add ProcessingNode abstract class for os_cloud and os_image + Rename files to reflect the new changes Drop deprecated scan_to_cloud method + Code refactor and formatting
- Code refactor and formatting, correct msg index of 2nd cloud
- Auto generate standalone nodes from components
- Move service definition into a separate ros2 package
- Correct replay component name, replace bind with lambda
- Rename namesapce and enable replay mode
- Fix component discovery
- More refactoring and code readabilty
- Tidy up the cmake file
- Drop std_msgs
- Drop std_msgs
- ROS2 driver prototype
- Contributors: Ussama Naal
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
- launch/record.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor_mtp.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest
- mtp_dest [default: ]
- mtp_main [default: false]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/replay.launch.xml
-
- ouster_ns [default: ouster]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- bag_file
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz-reliable.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: true]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/sensor.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
- launch/rviz.launch.xml
-
- ouster_ns [default: ouster]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- launch/sensor.independent.launch.xml
-
- ouster_ns [default: ouster]
- sensor_hostname
- udp_dest [default: ]
- lidar_port [default: 0]
- imu_port [default: 0]
- udp_profile_lidar [default: ]
- lidar_mode [default: ]
- timestamp_mode [default: ]
- ptp_utc_tai_offset [default: -37.0]
- metadata [default: ]
- viz [default: true]
- rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
- sensor_frame [default: os_sensor]
- lidar_frame [default: os_lidar]
- imu_frame [default: os_imu]
- point_cloud_frame [default: ]
- use_system_default_qos [default: false]
- proc_mask [default: IMG|PCL|IMU|SCAN]
- scan_ring [default: 0]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ouster_ros at Robotics Stack Exchange
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