/ouster_example

Ouster sample code

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

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OS-1 Example Code

Sample code for connecting to and configuring the OS-1, reading and visualizing data, and interfacing with ROS.

See the README.md in each subdirectory for details.

Contents

  • ouster_client/ contains an example C++ client for the OS-1 sensor
  • ouster_viz/ contains a visualizer for the OS-1 sensor
  • ouster_ros/ contains example ROS nodes for publishing point cloud messages

Sample Data

  • Sample sensor output usable with the provided ROS code is available here

OS-1-16 Visualization

Run the following command to load a Gazebo environment with the example.world file. The example.urdf.xacro creates a base box and attacjes the OS-1 above it. The launch file is executed by running the command: roslaunch ouster_description os1_world.launch