Official ROS driver for Ouster sensors

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

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

• Overview
• Requirements
  • Linux
  • Windows
  • Mac
• Getting Started
• Usage
  • Launching Nodes
    • Sensor Mode
    • Recording Mode
    • Replay Mode
    • Multicast Mode (experimental)
  • Invoking Services
    • GetMetadata
    • GetConfig
    • SetConfig
    • Reset
• License

Overview

This ROS package provide support for all Ouster sensors with FW v2.0 or later targeting ros2 distros. Upon launch the driver will configure and connect to the selected sensor device, once connected the driver will handle incoming IMU and lidar packets, decode lidar frames and publish corresponding ROS messages on the topics of /ouster/imu and /ouster/points. In the case the used sensor supports dual return and it was configured to use this capability, then another topic will published under the name /ouster/points2 which corresponds to the second point cloud.

Requirements

This branch is only intended for use with Rolling, Humble and Iron ROS 2 distros. Please refer to ROS 2 online documentation on how to setup ROS on your machine before proceeding with the remainder of this guide.

Note
If you have rosdep tool installed on your system you can then use the following command to get all required dependencies:

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

Linux

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

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

where $ROS_DISTRO can be either rolling, humble or iron.

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

The following packages are also required

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

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

Windows

TBD

Mac

TBD

Getting Started

To build the driver using ROS2 you need to clone the project into the src folder of a ros2 workspace as shown below:

```bash

File truncated at 100 lines see the full file