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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.14.2
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 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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Plugins

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Version 0.14.2
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 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

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Plugins

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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 repo

ouster_ros ouster_sensor_msgs

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API Docs
Browse Code

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

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Plugins

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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Plugins

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
iron

API Docs
Browse Code

Package Summary

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
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

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_offset which represent offset in seconds to be applied to all ROS messages the driver generates when TIME_FROM_PTP_1588 timestamp 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

File truncated at 100 lines see the full file

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/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/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]
  • 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/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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ouster_ros at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

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Services

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Plugins

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

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ouster_ros package from ouster-ros repo

ouster_ros ouster_sensor_msgs

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Package Summary

Version 0.14.2
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 humble-devel
Last Updated 2026-03-09
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Ouster ROS2 driver

Maintainers

  • ouster developers

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package ouster_ros

0.14.1 (2026-03-05)

  • Add support for ACCEL32_GYRO32_NMEA imu profile (part of FW 3.2).
    • Add related sensor parameters to the launch file
      • udp_profile_imu
      • imu_packets_per_frame
      • gyro_fsr and accel_fsr
  • Add support for the following lidar profiles (part of FW 3.2)
    • RNG15_RFL8_NIR8
    • RNG15_RFL8_NIR8_DUAL
    • RNG15_RFL8_WIN8
    • RNG15_RFL8_NIR8_ZONE16
    • RNG19_RFL8_SIG16_NIR16_ZONE16
  • [BREAKING]: Several sensor point types had some narrowed field sizes: - The Point_LEGACY has narrowed signal and near_ir fields from uint16_t to uint8_t. while the reflectivity has changed from uint32_t to uint8_t.
    • The Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t.
    • The RNG15_RFL8_NIR8 has narrowed reflectivity and near_ir from uint16_t to uint8_t.
  • Add launch file config options to following sensor parameters:
    • operating_mode
    • signal_multiplier
    • phase_lock_enable and phase_lock_offset
    • lidar_frame_azimuth_offset
    • return_order
    • bloom_reduction_optimization
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add support to enable loop for pcap replay + other replay config.
  • Add a new launch file parameter pub_static_tf that allows users to turn off the braodcast of sensor TF transforms.
  • Introduce a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.
  • Update where ouster-ros and ouster_client include directories get installed so that those headers can be included externally.
  • Add storage launch parameter to record.launch.xml
  • Add a padding-free point type of PointXYZI under ouster_ros namespace contrary to the pcl version pcl::PointXYZI for bandwith sensitive applications.
  • [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
  • Introduce a new param v_reduction that allows reducing the number of beams count of the published point cloud
  • Allow users to use Zenoh with the supplied Dockerfile and add it to the CI pipeline.
  • Introduce a new capability to suppress certain range measurements of the point cloud by providing a mask image to the driver through the mask_path launch file argument.
  • [BUGFIX]: Correct the computation of pointcloud.is_dense flag.
  • [BUGFIX]: Drop whole archive linkage which is causing double free corruption.

0.13.15 (2025-10-24)

  • Drop whole archive linkage (#489)

  • fix-rolling build (#483)

  • Correct pointcloud.is_dense flag (#473)

  • Port the pointcloud mask feature to ROS2 (#462)

    • Port the pointcloud mask feature to ROS2
    • Base Image fixed
    • Update README and exclude iron from the build

  • [ROS2] Expose the vertical beam reduction param (#444)

    • Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

  • ROS-317: Fix simulation in replay mode (#440)

    • Use node clock to properly populate the timestamp in replay modes
    • Update changelog and package number

  • Implement a padding-free version of pcl::PointXYZI (#439)

  • Add a new storage param to record.launch.xml (#437)

    • Add storage param to record

  • [ros2] Fix install directories (#433)

    • Cmakelists: Fix install directories
    • Bump package.xml patch version

    * Update changelog ---------Co-authored-by: Michael Wiznitzer <<mwiznitzer@neyarobotics.com>>

File truncated at 100 lines see the full file

Launch files

  • launch/record.composite.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/record.launch.xml
      • storage [default: sqlite3]
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.composite.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • play_rate [default: 1.0]
      • 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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 100000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/replay_pcap.launch.xml
      • loop [default: false]
      • play_delay [default: 0]
      • progress_update_freq [default: 1.0]
      • ouster_ns [default: ouster]
      • timestamp_mode [default: TIME_FROM_INTERNAL_OSC]
      • ptp_utc_tai_offset [default: -37.0]
      • metadata
      • pcap_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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: true]
      • proc_mask [default: IMG|PCL|IMU|SCAN]
      • scan_ring [default: 0]
      • point_type [default: original]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • launch/rviz.launch.xml
      • ouster_ns [default: ouster]
      • rviz_config [default: $(find-pkg-share ouster_ros)/config/viz.rviz]
  • launch/sensor.composite.launch.xml
      • ouster_ns [default: ouster]
      • sensor_hostname
      • udp_dest [default: ]
      • lidar_port [default: 0]
      • imu_port [default: 0]
      • udp_profile_lidar [default: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]
      • organized [default: true]
      • destagger [default: true]
      • min_range [default: 0.0]
      • max_range [default: 10000.0]
      • min_scan_valid_columns_ratio [default: 0.0]
      • v_reduction [default: 1]
      • mask_path [default: ]
  • 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: ]
      • udp_profile_imu [default: ]
      • imu_packets_per_frame [default: 0]
      • gyro_fsr [default: ]
      • accel_fsr [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: ]
      • pub_static_tf [default: true]
      • use_system_default_qos [default: false]
      • proc_mask [default: IMG|PCL|IMU|SCAN|TLM]
      • scan_ring [default: 0]
      • point_type [default: original]
      • azimuth_window_start [default: 0]
      • azimuth_window_end [default: 360000]
      • operating_mode [default: NORMAL]
      • signal_multiplier [default: 1.0]
      • phase_lock_enable [default: false]
      • phase_lock_offset [default: 0]
      • lidar_frame_azimuth_offset [default: -1]
      • return_order [default: ]
      • bloom_reduction_optimization [default: ]
      • persist_config [default: false]
      • attempt_reconnect [default: false]
      • dormant_period_between_reconnects [default: 1.0]
      • max_failed_reconnect_attempts [default: 2147483647]
      • auto_start [default: true]

Messages

No message files found.

Services

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Plugins

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Recent questions tagged ouster_ros at Robotics Stack Exchange