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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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)
ROS2 (rolling/humble/iron)
ROS2 (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

CONTRIBUTING

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)
ROS2 (rolling/humble/iron)
ROS2 (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

CONTRIBUTING

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)
ROS2 (rolling/humble/iron)
ROS2 (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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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)
ROS2 (rolling/humble/iron)
ROS2 (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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

CONTRIBUTING

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

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)
ROS2 (rolling/humble/iron/jazzy/kilted)
ROS2 (galactic/foxy)

Official ROS driver for Ouster sensors

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

ouster-ros repository

ROS Distrohumble

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Supported Devices

Requirements

Linux

CONTRIBUTING

ouster-ros repository

ROS Distrojazzy

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Requirements

Linux

Windows

Mac

Getting Started

CONTRIBUTING

ouster-ros repository

ROS Distrokilted

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Requirements

Linux

Windows

Mac

Getting Started

CONTRIBUTING

ouster-ros repository

ROS Distrorolling

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Requirements

Linux

Windows

Mac

Getting Started

CONTRIBUTING

ouster-ros repository

ROS Distrohumble

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Supported Devices

Requirements

Linux

CONTRIBUTING

ouster-ros repository

ROS Distrohumble

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Supported Devices

Requirements

Linux

CONTRIBUTING

ouster-ros repository

ROS Distrohumble

Repository Summary

Packages

README

Official ROS driver for Ouster sensors

Overview

Supported Devices

ROS Distro
humble

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
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ROS Distro
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ROS Distro
humble