Skip to content

Commit

Permalink
Bugfix update. See changelog for details
Browse files Browse the repository at this point in the history
* Add support for automatic UDP destination in simple_viz and ROS (ouster-lidar#255)
* Add a read timeout for TCP sockets (ouster-lidar#258)
* Fall back to ipv4 when ipv6 is disabled via kernel parameters (ouster-lidar#261)
* Fix open3d example crash on macos (ouster-lidar#267)
  • Loading branch information
Dima Garbuzov authored and Tobias Holmer committed Dec 26, 2023
1 parent 752e78f commit b6376d7
Show file tree
Hide file tree
Showing 6 changed files with 21 additions and 14 deletions.
6 changes: 5 additions & 1 deletion drivers/ouster-ros/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@ set(BUILD_SHARED_LIBS ${_SAVE_BUILD_SHARED_LIBS})
# catkin adds all include dirs to a single variable, don't try to use targets
include_directories(${_ouster_ros_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

# use only MPL-licensed parts of eigen
add_definitions(-DEIGEN_MPL2_ONLY)

add_library(ouster_ros src/ros.cpp)
target_link_libraries(ouster_ros PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common PRIVATE
-Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
Expand Down Expand Up @@ -88,4 +91,5 @@ install(
install(
DIRECTORY ${_ouster_ros_INCLUDE_DIRS}
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES ouster.launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES ../LICENSE ../LICENSE-bin ouster.launch viz.rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
5 changes: 1 addition & 4 deletions drivers/ouster-ros/Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -34,10 +34,7 @@ RUN set -xe \
&& rosdep install -y --from-paths ${OUSTER_SDK_PATH}

# Set up build environment
COPY --chown=build:build cmake ${OUSTER_SDK_PATH}/cmake
COPY --chown=build:build ouster_client ${OUSTER_SDK_PATH}/ouster_client
COPY --chown=build:build ouster_viz ${OUSTER_SDK_PATH}/ouster_viz
COPY --chown=build:build ouster_ros ${OUSTER_SDK_PATH}/ouster_ros
COPY --chown=build:build . ${OUSTER_SDK_PATH}

USER build:build
WORKDIR ${BUILD_HOME}
Expand Down
2 changes: 1 addition & 1 deletion drivers/ouster-ros/include/ouster_ros/point.h
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
#define PCL_NO_PRECOMPILE
#include <pcl/point_types.h>

#include <Eigen/Eigen>
#include <Eigen/Dense>
#include <chrono>
#include <functional>

Expand Down
2 changes: 1 addition & 1 deletion drivers/ouster-ros/ouster.launch
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<arg name="replay" default="false" doc="do not connect to a sensor; expect /os_node/{lidar,imu}_packets from replay"/>
<arg name="lidar_mode" default="" doc="resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10"/>
<arg name="timestamp_mode" default="" doc="method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588"/>
<arg name="metadata" default="" doc="override default metadata file for replays"/>
<arg name="metadata" default="" doc="path to read or write metadata file when replaying or receiving sensor data, respectively"/>
<arg name="viz" default="false" doc="whether to run a rviz"/>
<arg name="rviz_config" default="-d $(find ouster_ros)/viz.rviz" doc="optional rviz config file"/>
<arg name="tf_prefix" default="" doc="namespace for tf transforms"/>
Expand Down
4 changes: 3 additions & 1 deletion drivers/ouster-ros/package.xml
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>ouster_ros</name>
<version>0.2.0</version>
<version>0.2.1</version>
<description>Ouster example ROS client</description>
<maintainer email="[email protected]">ouster developers</maintainer>
<license>BSD</license>
Expand All @@ -25,5 +25,7 @@
<exec_depend>message_runtime</exec_depend>
<exec_depend>topic_tools</exec_depend>

<test_depend>gtest</test_depend>

<export></export>
</package>
16 changes: 10 additions & 6 deletions drivers/ouster-ros/src/os_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -166,8 +166,8 @@ int main(int argc, char** argv) {
return EXIT_FAILURE;
}

if (!replay && (!hostname.size() || !udp_dest.size())) {
ROS_ERROR("Must specify both hostname and udp destination");
if (!replay && !hostname.size()) {
ROS_ERROR("Must specify a sensor hostname");
return EXIT_FAILURE;
}

Expand All @@ -193,9 +193,12 @@ int main(int argc, char** argv) {
ROS_ERROR("Error when running in replay mode: %s", e.what());
}
} else {
ROS_INFO("Connecting to %s; sending data to %s", hostname.c_str(),
udp_dest.c_str());
ROS_INFO("Waiting for sensor to initialize ...");
if (udp_dest.size()) {
ROS_INFO("Sending UDP data to %s", udp_dest.c_str());
} else {
ROS_INFO("Using automatic UDP destination");
}
ROS_INFO("Waiting for sensor %s to initialize ...", hostname.c_str());

auto cli = sensor::init_client(hostname, udp_dest, lidar_mode,
timestamp_mode, lidar_port, imu_port);
Expand All @@ -206,7 +209,8 @@ int main(int argc, char** argv) {
}
ROS_INFO("Sensor initialized successfully");

// write metadata file to cwd (usually ~/.ros)
// write metadata file. If metadata_path is relative, will use cwd
// (usually ~/.ros)
auto metadata = sensor::get_metadata(*cli);
if (!write_metadata(meta_file, metadata)) {
ROS_ERROR("Exiting because of failure to write metadata path");
Expand Down

0 comments on commit b6376d7

Please sign in to comment.