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ROS driver for Ouster LiDAR
License: BSD 3-Clause "New" or "Revised" License
This project forked from ouster-lidar/ouster_example
ROS driver for Ouster LiDAR
License: BSD 3-Clause "New" or "Revised" License
Hi,
I'm started learning ROS for over like a month now. I just got a Ouster OS-1 16, first thing I should do is learn how to visualize the bag file,I've followed the ReadMe instructions, but can't figure out why it doesn't work.
First:
I've tried to run roslaunch ouster_driver os1.launch replay:=true
, then play the bag file via rosbag play --clock <bagfile>
and finally visualize using Rviz via this command: rviz -d /path/to/ouster_driver/rviz/viz.rviz
But nothing seems to be happening on the Rviz screen. The Global status on Rviz is set to "Warn" with as an error:
No tf data. Actual error: Fixed Frame [os1] does not exist
Second:
In the ReadMe it says :
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,
So, I go looking for this os1_node/points topic but can't find it in the rostopic list, I try even though to echo it, but nothing happens.
PS: I'm using random bag files I downloaded from the bag files link provided in the ReadMe.
Anyone can help me to visualize the content of this bag file please ?
Thanks in advance !!
PS2: Please, keep in mind that I've only been learning ROS for like a month ago, so, if you can keep it as simple as you can in the comments It'd be really helpful
Hi, Ouster,
I just install your lidar on our vehicle's ECU, we run on Ubuntu. After I allocate the IP address correctly and start the visualizer by the command ./viz <os1_hostname> <udp_data_dest_ip>
, there is following error:
./viz os1-991832000882 192.168.1.1
Sensor: os1-991832000882 UDP Destination:192.168.1.1
X Error of failed request: BadValue (integer parameter out of range for operation)
Major opcode of failed request: 155 (GLX)
Minor opcode of failed request: 3 (X_GLXCreateContext)
Value in failed request: 0x0
Serial number of failed request: 39
Current serial number in output stream: 40
I have checked the os1-hostname and ip address are both correct, so what the problem maybe?
A short question any plans to have ROS 2 support for the driver?
pulse_mode no longer in 1.13?
Please update ..
Need to add cmake install commands on
https://github.com/CPFL/ouster/blob/autoware_branch/CMakeLists.txt
Hi,
I'm just on my first steps of using an Ouster 16A, I configured the Ip address just like the Reeadme file, when I run the roslaunch command, nothing appear on the visualizer, I check the topics and nothing is been published.. Here's the messages I get after launching my roslaunch command:
[ WARN] [1557411767.581857326]: Lidar mode set in replay mode. May be ignored
[ INFO] [1557411767.581917009]: Running in replay mode
[ INFO] [1557411767.581932381]: Reading metadata from 192.168.2.111.json
[ WARN] [1557411767.581974955]: Failed to read 192.168.2.111.json; check that the path is valid
[ WARN] [1557411767.582034797]: Unknown sensor firmware version; output may not be reliable
[ WARN] [1557411767.582046857]: Lidar mode not found in metadata; output may not be reliable
[ WARN] [1557411767.582058663]: Beam angles not found in metadata; using design values
[ WARN] [1557411767.582071063]: Frame transforms not found in metadata; using design values
[ INFO] [1557411767.582087803]: Using lidar_mode: 1024x10
[ INFO] [1557411767.582100140]: Sensor sn: UNKNOWN firmware rev: UNKNOWN
Anyone can help please?
I use ouster lidar in autoware and it shows error message. I do some experiments for fix this and I found their is no "pulse_mode" setting in "set_config_param". Please check this part. Finally I commented "success &= do_cmd("set_config_param", "pulse_mode " + _pulse_mode_str);" line in src/os1.cpp, and then it worked well.
I printed all options and values. As you can see pulse mode makes error.
I am using ouster_os1 64 channel.
Hi,
Can anyone please explain the difference between the /os1_cloud_node/points and the /os1_node/lidar_packets topic?
Thanks
Although this repo has updated the TimeStamping in ouster_ros.cpp
, I still get sim_time
in the output when I issue echo /imu_raw
or other topics. The time sec
starts from zero showing that the node is started.
/** * @note Changed timestamp from LiDAR to ROS time for Autoware operation */ //msg.header.stamp.fromNSec(timestamp.count()); //<-- original code of OS1 driver msg.header.stamp = ros::Time::now(); //<-- prefered time mode in Autoware
How do I get Unix time in header of Msgs ?
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