CHANGELOG

Changelog for package ouster_ros

0.13.14 (2025-09-22)

• Add ouster-sdk directly

• Drop whole archive linkage (#489)

• fix-rolling build (#483)

• Correct pointcloud.is_dense flag (#473)

• Port the pointcloud mask feature to ROS2 (#462) * Port the pointcloud mask feature to ROS2 * Base Image fixed * Update README and exclude iron from the build

• [ROS2] Expose the vertical beam reduction param (#444) * Expose the vertical beam reduction value + rename arg + Better handling of deprecated topic names

• ROS-317: Fix simulation in replay mode (#440) * Use node clock to properly populate the timestamp in replay modes * Update changelog and package number

• Implement a padding-free version of pcl::PointXYZI (#439)

• Add a new storage param to record.launch.xml (#437) * Add storage param to record

• [ros2] Fix install directories (#433) * Cmakelists: Fix install directories * Bump package.xml patch version * Update changelog ——— Co-authored-by: Michael Wiznitzer <mwiznitzer@neyarobotics.com>

• Port the changes to ROS2 (#430) * Port the changes to ROS2 * Update sensor.*.launch

• SW-6906: publish sensor telemetry in ouster ros (#422) * Port changes from ROS1 to ROS2 * Mention TLM as an option in yaml configs

• Enable auto start on replay node (#421)

• ROS-389 [rolling/humble/iron/jazzy]: replay-improvments-and-fixes (#393) Remap metadata topic + Support loop capability in pcap replay + Add play_delay & play_rate for replay Added a launch file parameter pub_static_tf to disable sensor transforms broadcast ——— Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

• ROS-350[HUMBLE/IRON/JAZZY]: ‘t’ timestamp field content is not plausible (#387) Align timestamps based on staggered/destaggered option

• HOTFIX/ROS-382: os_driver fails when raw option is enabled (#384) * Fix os_driver fails when RAW option is enabled * Replace lifecycle_publisher with regular publisher for the os_pcap

• HOTFIX/ROS-376-initialize-the-sensor-with-launch-config-params (#380) * Invoke parse_config_from_ros_parameters on node init * Fix a typo + Add a note regarding the recommendation

• [HUMBLE|IRON|JAZZY] Port ROS-363 to ROS2 (#369) * Port ROS-363 to ROS2 * Turn off OSF * Update package version and CHANGELOG.rst + up the default max range to 10000.0 meters

• ROS-368[HUMBLE|IRON|JAZZY]: Unable to use the replay mode due to unknown substitution arg (#370) * Fix replay unknown substitution arg * Fix the definition of _loop variable * Move remap verb to the node

• ROS-119: ouster-ros driver automatic reconnection [HUMBLE/IRON/JAZZY] (#362) * Port sensor reconnection logic to ROS 2 * Add Jazzy to the build! * Update README and checkout * Add a note about not being able to properly handle invalid configuration * Implement automatic start for sensor/record modes

• ROS-227: Set LIDAR FOV on startup and add an option to persist the config [HUMBLE/IRON] (#357) * Port azimuth window and persist config changes to ROS2

• ROS2[HUMBLE/IRON] add pcap reader (#355) * Port the pcap replay to ros2-foxy * Add time update

• Support FUSA dual returns udp profile [HUMBLE/IRON] (#335) * Add support for FUSA profile + set xyz to NaNs on zero range

• Implement lock free ring buffer with throttling [HUMBLE/IRON] (#321) * Implement lock free ring buffer with throttling - (cherry picked from commit ade5822aba552f3839cf077daea44dc26869026b) * Update CHANGELOG and package version

• docs: fix spelling mistakes (#296)

• Use timeout when waiting for packets to be proceed in case they don’t come (#293)

• ROS-196: laser scan from ros driver is not properly aligned with point cloud [humble] (#203) * Apply destagger to laser scan + Add laser to RVIZ * Align LaserScan with the PointCloud * Apply proper pixel shift * Resolve the issue of zeroed laserscan on dual mode * Address an issue where LaserScan appeared different on FW prior to 2.4 * Fix the issue for odd numbers * List selected sensors on the main page + Update RVIZ config to highlight the 2D LaserScan.

• SW-5623: Bump up ouster_client to 20231031 release (#262) * Bump ouster-client to 2023103 release * fix: gracefully stop the driver when shutdown is requested.

• SW-5466: Support Velodyne point type in the ROS driver amendments (#254) * Add support to control point_type through launch.xml files + * Add a note to CHANGELOG about the breaking change for ptp/utc time offset

• SW-5466: Support Velodyne and other point types in ouster-ros driver (#216) * Quick protoype of Velodyne point type * Add PointXYZIR point type + other major pcl point types * Include point meta functions and point transform by the ouster_ros namesapce * Wrap point meta functions with a namespace and use shorter names for the functions + * Add a seed test module for the point_cloud_compose methods + Add description for the point_cloud_compose methods + refactor code and add compile time checks. * Propagate error state, warn about potential incompatible profile, propagate error state * Add minimal documentation about the new point_type parameter.

• SW-5607: rename package ouster_msgs to avoid package name conflict in ros index (#244) * rename package ouster_msgs to avoid conflict name conflict in ros index * set ouster_sensor_msgs version number to match with ouster_ros package

• Shutdown when can not connect to sensor on startup in ROS2 (Humble/Iron) (#211) * Shutdown when can not connect to sensor on startup * Apply same behavior to independent launch file * Update changelog and package version

• SW-5459: add a parameter for utc/tai time offset (#195) * Implemented UTC/TAI offset for the PTP timestamp mode * Make sure all the timestamp values of LidarScan are utc corrected * Modify timestamp values before producing a PointCloud * Remove no longer needed comment from the Dockerfile * Destagger timestamp when generating destagger point clouds

• SW-5396: publish point cloud in destaggered form (#182) * Quick implementtion of cloud destaggering * Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros * Update changelog and version * Reformat changelog

• SW-5345: merge-ouster-srvs into ouster-msgs (#176) * Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements * Update launch file name within the dockerfile * Update CHANGELOG.txt * Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs * Use angle brackets for external headers * Remove unused library include * Remove unused launch params in sensor_mtp.launch * Fix the table of contents

• SW-5167: follow ups from SW-5167-fix-black-columns-when-recording-under-ros-foxy (#163) * Initialize point_cloud_frame with an empty string + and expose point_cloud_frame through launch xml files + Remove unused/duplicate param definitions + Update descriptions * Correct the name of the node to be activated for merged node

• ROS compatibility mode dual returns fix (#156) * Separately initialize vector elements * Update changelog and package version * Properly check for the write_text_to_file success

• ROS2 compatibility mode (#146) * Factoring out Imu and Lidar packets handling * Added os_driver which combines os_sensor and os_cloud + Added required launch files + Better abstraction of classes + Simplified threading logic + Added thread safe implemention of ring buffer (not hooked yet) * Move down pragma once in the handlers * Adding unit tests for the ThreadSafeRingBuffer * Add one more case to the unit test of ThreadSafeRingBuffer * Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver * Add an option to select the point_cloud frame * Keep transforms in Lidar Frame by default with option to switch * Formatting os_sensor and os_driver * Provide support for parsing the community driver params file with approprite launch file * Factor out tf transforms broadcast * Formatting imu and lidar packet handlers * Fix build issue * Incorporate LaserScan message composition * Refactor a bit and add the ability to process and publish point clouds and laser scans * Restor os_cloud_node ability to process point clouds * Parse proc_mask and hook to launch files and config * Add support for the selecting IMU + create topics/subs when their respective flags enabled * Reduce sync operations + restore sensor reset/reactivation * Add the ability to override current qos settings * Add minor note * More detailed explanation about the IMG node * Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files * Expose use_system_default_qos parameter to xml launch file and use proper defaults * Update minimal readme file and utilize os_driver by default + add proc_mask to xml file + Remove experminal marker from set_config and reset ros services * Update CHANGELOG.rst and package version * Apply && to accepted method of ThreadSafeRingBuffer + nits and code formatting * Add missing parameter declaration * Re-formatting CHANGELOG a bit * Added ImageProcessor to support IMG flag + Define new argument scan_ring * Expose scan_ring param and update relevant params description * Added notes to size(), empty(), full() * remove deprecated methods + naming nits * Update ChangeLog + Fix load_metadata_from_file * Try out building against Iron + revise sensor_mtp.launch * Correct the params file name + document params * Carry over fixes from foxy branch * Update README.md to mention compatibilty mode

• SW-4997: Switch from using ROS timers to thread for polling lidar data (#140) * Switch from using ROS timers to thread for polling * Specify param defaults for non-required params

• SW-4972: merge switching to static transform publisher contribution (#124) * use static tf broadcaster for ros2 (#112) * use separate params for tf frames * send static transforms once * Disable static transform publishers and update changelog and package version * Disable rviz static transform publisher * Remove rviz static transform publisher hack * Remove left out variables ——— Co-authored-by: Adam Aposhian <adam.l.aposhian@gmail.com>

• SW-4859: enable having multiple components of same-type under same process (#108) * Remove the use of static vars within components * Resolve conflicts and update changelog and version * Fix a typo ‘instance’

• Drop service_msgs dep (#117)

• SW-4924: Replace tf_prefix by sensor_frame lidar_frame and imu_frame parameters (#115) * deprecate tf_prefix from os_cloud (#96) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Squashed commit of the following: commit 6280bfa1178bdee4fe695cb4752efd5ff15279db Author: Ussama Naal <ussama.naal@ouster.io> Date: Fri Apr 28 07:54:34 2023 -0700 Merge branch ‘deprecate_tf_prefix’ commit 35f2fd2ba50eaf3e4b65909269eb9609bff7a010 Author: Guillaume Doisy <guillaume@dexory.com> Date: Mon Apr 3 18:12:44 2023 +0100 deprecate tf_prefix from os_cloud * Update ChangeLog and package version * Propagate the parameters to launch files * Add a TODO note ——— Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

• SW-4837: replace the use of ros service to retrieve sensor metadata with latched topics (#102) * Working port of latched metadata topic on ros2 * Update replay and record launch files to providing metadata file an optional parameter * Remove extra white space in replay record command * Undo changes to the metadata-qos-override * minor code syntax improvements * Add missing metadata topic when bag file isn’t specified * Use concise syntax and formatting * Reverse logic for easier read * Apply node transition if it exists

• Explicity set cxx compile standard if the env isn’t (#99)

• SW-4747: update the ros 2 driver(s) to the 20230403 sdk release (#94) * Update to the latest ouster sdk * Forward multicast funcitonality + Other improvements and fixes * Add service_msgs dependency to package.xml * Correct sensor_mtp.launch for ros2 launch file format * Move to most recent SDK update * Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan * Launch file rename and README corrections

• Remove the duplicate sensor_info object

• Merge pull request #51 from ouster-lidar/SW-4342-prototype-ros-2-driver ROS2 driver MVP (beta release)

• more sensor configuration change handling

• Correct the logic around the detection of init_id change

• Wire set_config service call into node lifecycle

• Address typos and as to install rviz2 instead

• Address potential vulnerability when saving metadata to file

• Restructure reset operation on init_id change

• Use initialization list when constructing std::atomic

• When non legacy lidar profile is in use sniff lidar packes and perform self reset on init_id change event

• Add a reset service to sensor node and cycle the node upon invocation

• Uodate readme title and cleanup parameters yaml

• Add specific ros2 installation and usage instructions + other refactor and corrections

• code formatting

• Fix a bug caused by the type of point_cloud msg

• correct lidar_scan rename

• Code refactor and formatting

• Implement node lifecycle management for sensor node + refactoring launch files + rivz launch arg for overriding default config

• move ouster-sdk to a subfolder of ouster-ros

• More build fixes

• Add libtins as a dependency and flush out changelog

• Completely stripout topic_tools

• fix docker build and target supported distros

• launch file cleanup

• Remove the extra ‘

• Add a note about missing support of parameterize ros namespace when using launch.py

• Restore scoping ouster_ros nodes and topics to a configurable namesapce when using xml launch format

• Address the issue of missing sensor frame and/or old tf data when launching rviz2 from same launch file + correct sensor name in rviz

• Add some level of robustness around invoking the get_metadata service from processing nodes

• Re-enable replay functionality + address an issue where the os_replay node lose fields when load the metadata from file.

• Restore recording functionality

• Formulate the launch files in xml format + Rename separate to independent

• Drop setting cxx stanard in ouster_ros + refactor

• Enable running rviz from same launch file conditionally

• Base point cloud color scheme on range values

• Factor out parameters into a shared parameters.yaml file

• Utilize SensorDataQoS and add RVIZ launch file + code refactor

• Make connecting to get_metadata service robust + Drop TimerAction from the launch file Add ProcessingNode abstract class for os_cloud and os_image + Rename files to reflect the new changes Drop deprecated scan_to_cloud method + Code refactor and formatting

• Code refactor and formatting, correct msg index of 2nd cloud

• Auto generate standalone nodes from components

• Move service definition into a separate ros2 package

• Correct replay component name, replace bind with lambda

• Rename namesapce and enable replay mode

• Fix component discovery

• More refactoring and code readabilty

• Tidy up the cmake file

• Drop std_msgs

• Drop std_msgs

• ROS2 driver prototype

• Contributors: Andre Nguyen, Michael Wiznitzer, Ussama Naal, ralwing