Repo symbol

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

Repo symbol

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version rolling-devel
Last Updated 2023-11-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.11.1
ouster_sensor_msgs 0.11.1

README

Official ROS driver for Ouster sensors

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

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

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

Repo symbol

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
kilted

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version rolling-devel
Last Updated 2023-11-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.11.1
ouster_sensor_msgs 0.11.1

README

Official ROS driver for Ouster sensors

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

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

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

Repo symbol

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version rolling-devel
Last Updated 2023-11-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.11.1
ouster_sensor_msgs 0.11.1

README

Official ROS driver for Ouster sensors

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

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

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

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

Repo symbol

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
iron

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 (-)

Packages

Name Version
ouster_ros 0.11.1
ouster_sensor_msgs 0.11.1

README

Official ROS driver for Ouster sensors

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

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

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

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file

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

ouster-ros repository

ouster_ros ouster_sensor_msgs

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/ouster-lidar/ouster-ros.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-09-23
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ouster_ros 0.13.14
ouster_sensor_msgs 0.13.14

README

Official ROS driver for Ouster sensors

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

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

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.

Supported Devices

The driver supports the following list of Ouster sensors:

You can obtain detailed specs sheet about the sensors and obtain updated FW through the website downloads section.

Requirements

This branch is only intended for use with Rolling, Humble, Iron, Jazzy and Kilted 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, iron, jazzy or kilted.

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

File truncated at 100 lines see the full file