Working with the Ouster OS1
The ouster has to be connected to the jetson board via the usb-ethernet connector. The resulting ethernet connection
(eth1[00:3B:A3:00:6E])
has to be set to Link-Local Only (IPv4)
.The Ouster LiDAR can either be connected to the robot or to a personal laptop for testing. The Ouster package offers
.launch
files for running the node, recording from the sensor to a .bag
file and replaying from a .bag
file.To launch all required OS1 ROS-nodes, the
sensor.launch
file can be launched by providing it the sensor_hostname
, which consists of os-<SERIAL_NUMBER>.local
roslaunch ouster_ros sensor.launch sensor_hostname:=os-122222003163.local
viz:=false
sensor_hostname
configures the node to the hardwareviz:=false
prevents the launch file from launching rviz on the robot
The recording of rosbags requires metadata about the sensor configuration. These can be extracted with the
service /ouster/get_config
which outputs the current metadata to the console. This string can then be saved to the metadata.json
file.The launch file for recording to rosbags requires both a absolute path to the
metadata.json
file and a absolute path to the generated *.bag
file.1
roslaunch ouster_ros record.launch sensor_hostname:=os-122222003163.local metadata:=/home/juri/ROSWorkspace/BA/src/ouster-ros/config/metadata.json bag_file:=/home/juri/ROSWorkspace/BA/bags/os1_test.bag
Change the
metadata.json
and the os1_test.bag
file accordingly.1
roslaunch ouster_ros record.launch sensor_hostname:=os-122222003163.local metadata:=/home/unitree/catkin_ws/src/ouster-ros/config/metadata.json bag_file:=/home/unitree/catkin_ws/bags/os1_test.bag viz:=false
Change the
metadata.json
and the os1_test.bag
file accordingly.Note the change in path to
/home/
unitree/catkin_ws
instead of home/juri/ROSWorkspace
and the flag viz:=false
The mode to replay rosbags requires both the absolute path to the
metadata.json
and *.bag
files. Since the replay is independent of live lidar measurements, the sensor_hostname
doesn’t have to provided.1
roslaunch ouster_ros replay.launch metadata:=/home/juri/ROSWorkspace/BA/src/ouster-ros/config/metadata.json bag_file:=/home/juri/ROSWorkspace/BA/bags/os1_test.bag
Change the
metadata.json
and the os1_test.bag
file accordingly.1
roslaunch ouster_ros replay.launch metadata:=/home/unitree/catkin_ws/src/ouster-ros/config/metadata.json bag_file:=/home/unitree/catkin_ws/bags/os1_test.bag viz:=false
Change the
metadata.json
and the os1_test.bag
file accordingly.Note the change in path to
/home/
unitree/catkin_ws
instead of home/juri/ROSWorkspace
and the flag viz:=false
Last modified 4mo ago