Skip to content

Latest commit

 

History

History
 
 

ouster_ros

README.md

ouster_ros

Requirements

  • Ubuntu 18|20
  • ROS Melodic|Noetic

Usage

Sensor Mode

roslaunch ouster_ros sensor.launch      \
    sensor_hostname:=<sensor host name> \
    metadata:=<json file name>

Replay Mode

roslaunch ouster_ros replay.launch      \
    metadata:=<json file name>          \
    bag_file:=<path to rosbag file>

Recording Mode

roslaunch ouster_ros record.launch      \
    sensor_hostname:=<sensor host name> \
    metadata:=<json file name>          \
    bag_file:=<optional bag file name>

Services

The ROS driver currently advertises three services /ouster/get_metadata, /ouster/get_config, and /ouster/set_config. The first one is available in all three modes of operation: Sensor, Replay, and Recording. The latter two, however, are only available in Sensor and Recording modes. i.e. when connected to a sensor.

The usage of the three services is described below:

  • /ouster/get_metadata: This service takes no parameters and returns the current sensor metadata, you may use as follow:
rosservice call /ouster/get_metadata "{}"

This will return a json string that contains the sensor metadata

  • /ouster/get_config: This service takes no parameters and returns the current sensor configuration, you may use as follow:
rosservice call /ouster/get_config "{}"

This will return a json string represting the current configuration

  • /ouster/set_config: Takes a single parameter and also returns the updated sensor configuration. You may use as follows:
rosservice call /ouster/set_config "config_file: '<path to sensor config>'"

It is not guranteed that all requested configuration are applied to the sensor, thus it is the caller responsibilty to examine the returned json object and check which of the sensor configuration parameters were successfully applied.