copied one point twelve
included zero copy
open source summer

A rewrite of the ouster example using the original headers, including nodelets and PTP support.

This nodelet reads lidar and IMU pacets from the OS1 sensor, and publishes them as a message. The output should go into os1_cloud.

This nodelet advertises a service at os1_config, and the os1_cloud and os1_image nodelets should be able to resolve that service.

<node pkg="swri_nodelet" 
    type="nodelet" 
    name="ouster_driver" 
    args="os1_driver/os1_driver ouster_nodelet_manager">
    <param name="lidar_mode"          value="1024x10"/>
    <param name="replay"              value="false"/>
    <param name="os1_hostname"        value="192.168.15.210"/>
    <param name="os1_udp_destination" value="192.168.15.100"/>
    <param name="os1_lidar_port"      value="7502"/>
    <param name="os1_imu_port"        value="7503"/>
    <param name="use_ptp"             value="true"/>
</node>

lidar_mode (string, default none)
Sets the horizontal resolution and refresh rate. Options are 512x10, 512x20, 1024x10, 1024x20, and 2048x20.

replay (bool, default: false)
The driver will not attempt to connect to sensor hardware in replay mode

os1_hostname (string, default: false)
The IP address or hostname of the lidar

os1_udp_destination (string, default: none)
The IP address to send packets to.

os1_lidar_port (int, default: 7502)
The port at the udp_destination to send lidar packets. Change this if you have multiple lidars.

os1_imu_port (int, default 7503)
The port at the udp_destination to send imu packets to. Change this if you have multiple lidars.

There are no subscribed topics

/lidar_packets (os1_driver/PacketMsg)
lidar packets. published at over 600 Hz on an OS1-64

/imu_packets (os1_driver/PacketMsg)
imu packets.

The os1_cloud_nodelet turns packets into pointclouds.

<node pkg="swri_nodelet" 
    type="nodelet" 
    name="ouster_cloud" 
    args="os1_driver/os1_packets_to_point_cloud ouster_nodelet_manager">
    <param name="tf_prefix"             value="lidar_top" />
    <param name="use_system_timestamp"  value="true" />
</node>

sensor_frame (string)
Required argument. The nodelet publishes a static transform from this frame to {sensor_frame}/imu and to {sensor_frame}/lidar.

use_system_timestamp (bool, default: false) determines whether the point clouds and IMU messages are stamped with the timestamp from the sensor, or ros::Time::now(). You should only use the system timestamp if you do not have PTP and still want Unix time.

/lidar_packets (os1_driver/PacketMsg)
lidar packets. published at over 600 Hz on an OS1-64

/imu_packets (os1_driver/PacketMsg)
imu packets.

/points (sensor_msgs/PointCloud2)
one pointcloud is one rotation.

/imu (sensor_msgs/Imu)
unfiltered IMU data

An exciting feature of the OS1 sensors is the ability to create images out of lidar data, giving you a unique type of mono, 360 degree camera.

<node pkg="swri_nodelet" 
    type="nodelet" 
    name="ouster_image" 
    args="os1_driver/os1_point_cloud_to_image ouster_nodelet_manager" />

This node has no parameters

points (sensor_msgs/PointCloud2)
the output from os1_cloud

intensity_image (sensor_msgs/Image) An interesting subject for segmentation, this maps the intensity of returns to pixels.

noise_image (sensor_msgs/Image)
I can't say this one is very useful

range_image (sensor_msgs/Image)
It reminds me of the depth image from Kinect, back when those were the easiest depth sensors to acquire.