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Sensor-Driver.md

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Official ROS Driver

1. Official ROS driver for Ouster sensors

  • GitHub Link : https://github.com/ouster-lidar/ouster-ros/tree/ros2

  • The driver supports the following list of Ouster sensors:

    • OS0
    • OS1
    • OS2
    • OSDome

  • Driver Parameters The driver has several parameters that allow you to customize its behavior, all of these parameters are defined with the driver_params.yaml file found under config folder. The only required parameter is sensor_hostname which sets the sensor hostname or ip that you want to connect to through ouster-ros driver.

    Other notable parameters include:

  • point_type: This parameter allows to customize the point cloud that thE driver produces through its /ouster/points topics. Choose one of the following values:

    • original: This uses the original point representation ouster_ros::Point of the ouster-ros driver.
    • native: directly maps all fields as published by the sensor to an equivalent point cloud representation with the additon of ring and timestamp fields.
    • xyz: the simplest point type, only has {x, y, z}
    • xyzi: same as xyz point type but adds intensity (signal) field. thiS type is not compatible with the low data profile.
    • xyzir: same as xyzi type but adds ring (channel) field. this type is same as Velodyne point cloud type this type is not compatible with the low data profile.