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> where <os1_hostname> is the hostname or IP address of the OS1 sensor, and <udp_data_dest> 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>, 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> where <os1_hostname> can be the hostname or IP of the OS1 device and <udp_data_dest> 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
  • Note: os1_node/lidar_packets and os1_node/imu_packets are the "raw data" topics, while os1_node/points is the ROS compatible XYZ topic and os1_node/imu is the ROS compatible IMU topic
  • 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