cpfl / ouster Goto Github PK

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?

More information:

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:

Recently I used your Ouster driver in order to change the format into Velodyne format.

I set the launch file like:

But when I launch the os1.launch file I met this problem:

I will appreciate if you can give me some ideas. Thx

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 ?