av_ouster

This repository hosts the required environment for running the ROS 2 Ouster LIDAR driver, specifically configured for running with the OS2-128 sensor.

Docker container

• Operating System: Ubuntu 22.04
• ROS Distribution: Humble Hawksbill
• Ouster Drivers:
  • ouster-ros: Compiled from source, manages communication with OS2 lidar
  • ros-humble-ouster-msgs: Custom Ouster ROS msgs

For more details please see Dockerfile

ROS 2 launcher

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 the official ouster-ros source code for more information about the driver and configuration files.

Usage

Quickly build and run the Docker container using runtime.sh for runtime or debugging, and dev.sh for a convenient development setup.

Runtime or Debugging

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.

Development

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. Executing colcon_build runs colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release and then sources the setup.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.