merge changes to fork (#3)

* SW-5607: rename package ouster_msgs to avoid package name conflict in ros index (ouster-lidar#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 * SW-5466: Support Velodyne and other point types in ouster-ros driver (ouster-lidar#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-5466: Support Velodyne point type in the ROS driver amendments (ouster-lidar#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-5623: Bump up ouster_client to 20231031 release (ouster-lidar#262) * Bump ouster-client to 2023103 release * fix: gracefully stop the driver when shutdown is requested. * ROS-196: laser scan from ros driver is not properly aligned with point cloud [humble] (ouster-lidar#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. * Use timeout when waiting for packets to be proceed in case they don't come (ouster-lidar#293) * docs: fix spelling mistakes (ouster-lidar#296) --------- Co-authored-by: Ussama Naal <[email protected]> Co-authored-by: Andre Nguyen <[email protected]>
vortexntnu · Mar 23, 2024 · 61fa6ce · 61fa6ce
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,13 +4,60 @@ Changelog
 
 [unreleased]
 ============
-* breaking: publish PCL point clouds destaggered.
+* [BUGFIX]: LaserScan is not properly aligned with generated point cloud
+  * address an issue where LaserScan appeared different on FW prior to 2.4
+* [BUGFIX]: LaserScan does not work when using dual mode
+* [BUGFIX]: ROS2 crashes when standby mode is set and then set to normal
+
+
+ouster_ros v0.12.0
+==================
+* [BREAKING]: updated ouster_client to the release of ``20231031`` [v0.10.0]; changes listed below.
+* [BREAKING]: publish PCL point clouds destaggered.
 * introduced a new launch file parameter ``ptp_utc_tai_offset`` which represent offset in seconds
   to be applied to all ROS messages the driver generates when ``TIME_FROM_PTP_1588`` timestamp mode
   is used.
+  * [BREAKING]: the default value of ``ptp_utc_tai_offset`` is set to ``-37.0``. To retain the same
+    time offset for an existing system, users need to set ``ptp_utc_tai_offset`` to ``0.0``.
 * fix: destagger columns timestamp when generating destaggered point clouds.
 * shutdown the driver when unable to connect to the sensor on startup
+* breaking: rename ouster_msgs to ouster_sensor_msgs
+* added the ability to customize the published point clouds(s) to velodyne point cloud format and
+  other common pcl point types.
+* ouster_image_compoenent can operate separately from ouster_cloud_component.
+* fix: gracefully stop the driver when shutdown is requested.
 
+ouster_client
+-------------
+* [BREAKING] Updates to ``sensor_info`` include:
+    * new fields added: ``build_date``, ``image_rev``, ``prod_pn``, ``status``, ``cal`` (representing
+      the value stored in the ``calibration_status`` metadata JSON key), ``config`` (representing the
+      value of the ``sensor_config`` metadata JSON key)
+    * the original JSON string is accessible via the ``original_string()`` method
+    * The ``updated_metadata_string()`` now returns a JSON string reflecting any modifications to
+      ``sensor_info``
+    * ``to_string`` is now marked as deprecated
+* [BREAKING] The RANGE field defined in `parsing.cpp`, for the low data rate profile, is now 32 bits
+  wide (originally 16 bits).
+    * Please note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] The NEAR_IR field defined in `parsing.cpp`, for the low data rate profile, is now 16
+  bits wide (originally 8 bits).
+    * Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
+* [BREAKING] changed frame_id return size to 32 bits from 16 bits
+* An array of per-packet timestamps (called ``packet_timestamp``) is added to ``LidarScan``
+* The client now retries failed requests to an Ouster sensor's HTTP API
+* Increased the default timeout for HTTP requests to 40s
+* Added FuSA UDP profile to support Ouster FW 3.1+
+* Improved ``ScanBatcher`` performance by roughly 3x (depending on hardware)
+* Receive buffer size increased from 256KB to 1MB
+* [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the ``viz.Cloud``
+  Python class
+* [bugfix] Fixed an issue that resulted in some ``packet_format`` methods returning an uninitialized
+  value
+* [bugfix] Fixed a libpcap-related linking issue
+* [bugfix] Fixed an eigen 3.3-related linking issue
+* [bugfix] Fixed a zero beam angle calculation issue
+* [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10
 
 ouster_ros v0.10.0
 ==================

diff --git a/README.md b/README.md
@@ -12,24 +12,27 @@
 | ROS2 (rolling/humble/iron) | [![rolling/humble/iron](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 | ROS2 (galactic/foxy) | [![galactic/foxy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2-foxy)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 
-- [Overview](#overview)
-- [Requirements](#requirements)
-  - [Linux](#linux)
-  - [Windows](#windows)
-  - [Mac](#mac)
-- [Getting Started](#getting-started)
-- [Usage](#usage)
-  - [Launching Nodes](#launching-nodes)
-    - [Sensor Mode](#sensor-mode)
-    - [Recording Mode](#recording-mode)
-    - [Replay Mode](#replay-mode)
-    - [Multicast Mode (experimental)](#multicast-mode-experimental)
-  - [Invoking Services](#invoking-services)
-    - [GetMetadata](#getmetadata)
-    - [GetConfig](#getconfig)
-    - [SetConfig](#setconfig)
-    - [Reset](#reset)
-- [License](#license)
+- [Official ROS driver for Ouster sensors](#official-ros-driver-for-ouster-sensors)
+  - [Overview](#overview)
+  - [Supported Devices](#supported-devices)
+  - [Requirements](#requirements)
+    - [Linux](#linux)
+    - [Windows](#windows)
+    - [Mac](#mac)
+  - [Getting Started](#getting-started)
+  - [Usage](#usage)
+    - [Launching Nodes](#launching-nodes)
+      - [Sensor Mode](#sensor-mode)
+      - [Recording Mode](#recording-mode)
+      - [Replay Mode](#replay-mode)
+      - [Multicast Mode (experimental)](#multicast-mode-experimental)
+    - [Invoking Services](#invoking-services)
+      - [GetMetadata](#getmetadata)
+      - [GetConfig](#getconfig)
+      - [SetConfig](#setconfig)
+      - [Reset](#reset)
+    - [Driver Parameters](#driver-parameters)
+  - [License](#license)
 
 
 ## Overview
@@ -41,6 +44,17 @@ messages on the topics of `/ouster/imu` and `/ouster/points`. In the case the us
 dual return and it was configured to use this capability, then another topic will published under the
 name `/ouster/points2` which corresponds to the second point cloud.
 
+
+## Supported Devices
+The driver supports the following list of Ouster sensors:
+- [OS0](https://ouster.com/products/hardware/os0-lidar-sensor)
+- [OS1](https://ouster.com/products/hardware/os1-lidar-sensor)
+- [OS2](https://ouster.com/products/hardware/os2-lidar-sensor)
+- [OSDome](https://ouster.com/products/hardware/osdome-lidar-sensor)
+
+You can obtain detailed specs sheet about the sensors and obtain updated FW through the website
+[downloads](https://ouster.com/downloads) section.
+
 ## Requirements
 This branch is only intended for use with **Rolling**, **Humble** and **Iron** ROS 2 distros. Please
 refer to ROS 2 online documentation on how to setup ROS on your machine before proceeding with the
@@ -238,8 +252,32 @@ connection, reset the sensor and reconnect again.
 > **Note**
 > Changing settings is not yet fully support during a reset operation (more on this)
 
-TBD: For further detailed instructions refer to the [main guide](./docs/index.rst)
-
+### Driver Parameters
+The driver has several parameters that allow you to customize its behavior, all of
+these parameters are defined with the `driver_params.yaml` file found under `config`
+folder. The only required parameter is `sensor_hostname` which sets the sensor
+hostname or ip that you want to connect to through ouster-ros driver.
+
+Other notable parameters include:
+* **point_type**: This parameter allows to customize the point cloud that the
+  driver produces through its `/ouster/points` topics. Choose one of the following
+  values:
+  - `original`: This uses the original point representation `ouster_ros::Point`
+           of the ouster-ros driver.
+  - `native`: directly maps all fields as published by the sensor to an
+           equivalent point cloud representation with the additon of ring
+           and timestamp fields.
+  - `xyz`: the simplest point type, only has {x, y, z}
+  - `xyzi`: same as xyz point type but adds intensity (signal) field. this
+           type is not compatible with the low data profile.
+  - `xyzir`: same as xyzi type but adds ring (channel) field.
+          this type is same as Velodyne point cloud type
+          this type is not compatible with the low data profile.
+
+This is not a comprehenisve list of all the parameters that the driver supports
+for more detailed list please refer to the `config/driver_params.yaml` file.
+
+For further detailed instructions about the driver refer to the [main guide](./docs/index.rst)
 
 ## License
 [License File](./LICENSE)
diff --git a/ouster-ros/CMakeLists.txt b/ouster-ros/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(ouster_msgs REQUIRED)
+find_package(ouster_sensor_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -63,7 +63,7 @@ set(ouster_ros_library_deps
   rclcpp
   sensor_msgs
   geometry_msgs
-  ouster_msgs
+  ouster_sensor_msgs
   pcl_conversions
   tf2
   tf2_eigen
@@ -154,7 +154,7 @@ rclcpp_components_register_node(os_image_component
   EXECUTABLE os_image
 )
 
-# ==== os_sensor_component ====
+# ==== os_driver_component ====
 create_ros2_component(os_driver_component
   "src/os_sensor_node_base.cpp;src/os_sensor_node.cpp;src/os_driver_node.cpp"
   "std_srvs"
@@ -168,11 +168,23 @@ rclcpp_components_register_node(os_driver_component
 # ==== Test ====
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(${PROJECT_NAME}_test test/ring_buffer_test.cpp)
+  ament_add_gtest(${PROJECT_NAME}_test
+    test/ring_buffer_test.cpp
+    src/os_ros.cpp
+    test/point_accessor_test.cpp
+    test/point_transform_test.cpp
+    test/point_cloud_compose_test.cpp
+  )
+  ament_target_dependencies(${PROJECT_NAME}_test
+    rclcpp
+    ouster_sensor_msgs
+  )
   target_include_directories(${PROJECT_NAME}_test PUBLIC
+    ${_ouster_ros_INCLUDE_DIRS}
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
   )
+  target_link_libraries(${PROJECT_NAME}_test ouster_ros_library)
 endif()
 
 

diff --git a/ouster-ros/config/driver_params.yaml b/ouster-ros/config/driver_params.yaml
@@ -67,3 +67,22 @@ ouster/os_driver:
     # data QoS. This is preferrable for production but default QoS is needed for
     # rosbag. See: https://github.com/ros2/rosbag2/issues/125
     use_system_default_qos: false
+    # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
+    # Here is a breif description of each option:
+    #  - original: This uses the original point representation ouster_ros::Point
+    #          of the ouster-ros driver.
+    #  - native: directly maps all fields as published by the sensor to an
+    #          equivalent point cloud representation with the additon of ring
+    #          and timestamp fields.
+    #  - xyz: the simplest point type, only has {x, y, z}
+    #  - xyzi: same as xyz point type but adds intensity (signal) field. this
+    #          type is not compatible with the low data profile.
+    #  - xyzir: same as xyzi type but adds ring (channel) field.
+    #          this type is same as Velodyne point cloud type
+    #          this type is not compatible with the low data profile.
+    # for more details about the fields of each point type and their data refer
+    # to the following header files:
+    # - ouster_ros/os_point.h
+    # - ouster_ros/sensor_point_types.h
+    # - ouster_ros/common_point_types.h.
+    point_type: original
diff --git a/ouster-ros/config/os_sensor_cloud_image_params.yaml b/ouster-ros/config/os_sensor_cloud_image_params.yaml
@@ -27,5 +27,6 @@ ouster/os_cloud:
     use_system_default_qos: False # needs to match the value defined for os_sensor node
     scan_ring: 0  # Use this parameter in conjunction with the SCAN flag and choose a
                   # value the range [0, sensor_beams_count)
+    point_type: original # choose from: {original, native, xyz, xyzi, xyzir}
 ouster/os_image:
     use_system_default_qos: False # needs to match the value defined for os_sensor node
diff --git a/ouster-ros/config/viz.rviz b/ouster-ros/config/viz.rviz
@@ -13,7 +13,9 @@ Panels:
         - /nearir1/Topic1
         - /reflec1
         - /signal1
-      Splitter Ratio: 0.5
+        - /LaserScan1
+        - /LaserScan1/Topic1
+      Splitter Ratio: 0.626074492931366
     Tree Height: 1185
   - Class: rviz_common/Selection
     Name: Selection
@@ -92,23 +94,23 @@ Visualization Manager:
       Enabled: true
       Frame Timeout: 15
       Frames:
-        " os_imu":
+        All Enabled: true
+        os_imu:
           Value: true
-        " os_lidar":
+        os_lidar:
           Value: true
-        " os_sensor":
+        os_sensor:
           Value: true
-        All Enabled: true
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: false
       Tree:
-        " os_sensor":
-          " os_imu":
+        os_sensor:
+          os_imu:
             {}
-          " os_lidar":
+          os_lidar:
             {}
       Update Interval: 0
       Value: true
@@ -168,10 +170,44 @@ Visualization Manager:
         Reliability Policy: Best Effort
         Value: /ouster/signal_image
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1000
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.02
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /ouster/scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: "os_sensor"
+    Fixed Frame: os_sensor
     Frame Rate: 30
   Name: root
   Tools: