This repository hosts the required environment for running the ROS 2 Ouster LIDAR driver, specifically configured for running with the OS2-128 sensor.
-
Operating System: Ubuntu 22.04
-
ROS Distribution: Humble Hawksbill
-
Velodyne Drivers:
ros-humble-ros2-ouster
: Manages communication with the OS2 lidarros-humble-ouster-msgs
: Custom Ouster ROS msgs
Note: Although the driver versions are not pinned in the Dockerfile, version
0.4.2-1
is the latest release available (viaapt
) that has been tested on the vehicle sensor.
For more details please see Dockerfile
The av_ouster_launch
ROS package contains the required launch files and configuration parameters for launching the driver for a Ouster OS2-128.
Please refer to ros2_ouster_drivers for more information about the driver and configuration files.
Quickly build and run the Docker container using runtime.sh
for runtime or debugging, and dev.sh
for a convenient development setup.
Execute the ROS 2 nodes in runtime mode or start an interactive bash session for detailed debugging:
./runtime.sh [bash]
- Without arguments: Activates the container in runtime mode.
- With
bash
: Opens an interactive bash session for debugging.
Prepare a development setting that reflects local code modifications and simplifies the build process:
./dev.sh
- Live Code Synchronization: Mounts local
av_ouster_launch
directory with the container. - Convenience Alias: The development container features a
colcon_build
alias, which simplifies the ROS2 build process. Executingcolcon_build
runscolcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
and then sources thesetup.bash
to ensure the environment is updated with the latest build artifacts. This alias enhances productivity by combining build commands and environment setup into a single, easy command.