#include <chrono>
#include <functional>
#include <iostream>
#include <string>
#include <utility>
#include <vector>
#include <pcl_conversions/pcl_conversions.h>
#include <ros/console.h>
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include "ouster_driver/PacketMsg.h"
#include "ouster_driver/os1_ros.h"

Include dependency graph for os1_node.cpp:

Typedefs
using	ns = std::chrono::nanoseconds

using	PacketMsg = ouster_driver::PacketMsg

Functions
int	main (int argc, char **argv)

Typedef Documentation

using ns = std::chrono::nanoseconds

Example node to publish OS1 output on ROS topics

Additionally, this node can be used to record and replay raw sesnor output by publishing and listening to PacketMsg topics

ROS Parameters scan_dur_ns: nanoseconds to batch lidar packets before publishing a cloud os1_hostname: hostname or IP in dotted decimal form of the sensor os1_udp_dest: hostname or IP where the sensor will send data packets os1_lidar_port: port to which the sensor should send lidar data os1_imu_port: port to which the sensor should send imu data replay_mode: when true, the node will listen on ~/lidar_packets and ~/imu_packets for data instead of attempting to connect to a sensor

Definition at line 33 of file os1_node.cpp.

using PacketMsg = ouster_driver::PacketMsg

Definition at line 34 of file os1_node.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Note: Added to support Velodyne compatible pointcloud format for Autoware; Added to support advanced mode parameters configuration for Autoware

Definition at line 36 of file os1_node.cpp.

Typedefs

Functions

Typedef Documentation

Function Documentation