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OS1 Example Client and ROS Node

Contents

  • ouster_client/ contains a simple C++ client for the OS1 sensor
  • ouster_ros/ contains an example ROS node for publishing point cloud messages
  • ouster_viz/ contains a visualizer for an OS1 sensor

Building the Sample Client

  • The sample client requires a compiler supporting C++11 or newer and CMake
  • Build with cd /path/to/ouster_example/ouster_client && mkdir build && cd build && cmake .. && make

Running the Sample Client

  • The sample client includes a small driver program that just prints some data to the terminal
  • Make sure the OS1 is connected to the network and has obtained a dhcp lease. See accompanying documentation for more details
  • You should see a binary called ouster_client_example in your build directory on success
  • Run ouster_client_example <os1_hostname> <udp_data_dest_ip> where <os1_hostname> is the hostname or IP address of the OS1 sensor, and <udp_data_dest_ip> is the IP to which the sensor should send lidar data

Building the visualizer

  • The visualizer is not built using ROS
  • Build with cd /path/to/ouster_example/ouster_viz && mkdir build && cd build && cmake .. && make

Running the visualizer (does not require ROS)

  • The example visualiser can be used to display point clouds and range/intensity/noise images for the OS1 sensor
  • You should see a binary called "viz" in your build directory on success
  • Run ./viz <os1_hostname> <udp_data_dest_ip>, passing the same arguments as for ouster_client_example

Building the Sample ROS Node

  • Supports Ubuntu 16.04 with ROS Kinetic (for ouster_ros)
  • ROS installation instructions can be found here
  • Additionally requires ros-kinetic-pcl-ros and, optionally, ros-kinetic-rviz for visualization
  • Be sure to source the ROS setup script before building. For example:source /opt/ros/kinetic/setup.bash
  • Both packages can be built by catkin by moving them into a catkin workspace
  • Build with mkdir myworkspace && cd myworkspace && ln -s /path/to/ouster_example ./src && catkin_make

Running the Sample ROS Node

  • Set up the ROS environment with source /path/to/myworkspace/devel/setup.bash in a new terminal for each command below
  • For use with a running sensor:
    • To publish OS1 data as ROS topic roslaunch ouster_ros os1.launch os1_hostname:=<os1_hostname> os1_udp_dest:=<udp_data_dest_ip> where <os1_hostname> can be the hostname or IP of the OS1 device and <udp_data_dest_ip> is the IP to which the sensor should send data
    • To record raw sensor output, run rosbag record /os1_node/imu_packets /os1_node/lidar_packets in another terminal
    • To visualize output, run rviz -d /path/to/ouster_ros/viz.rviz in another terminal
  • For use with recorded sensor data:
    • To replay raw sensor output, run roslaunch ouster_ros os1.launch replay:=true
    • In a second terminal, run rosbag play --clock <bagfile>
    • To visualize output, run rviz -d /path/to/ouster_ros/viz.rviz in another terminal
  • Sample raw sensor output is available here