Skip to content

Commit

Permalink
Try out building against Iron + revise sensor_mtp.launch
Browse files Browse the repository at this point in the history
  • Loading branch information
@Samahu
Samahu committed Jun 15, 2023
1 parent 199c0ef commit e82239c
Show file tree
Hide file tree
Showing 4 changed files with 48 additions and 41 deletions.
1 change: 1 addition & 0 deletions .github/workflows/docker-image.yml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ jobs:
ros_distro:
- rolling
- humble
- iron
steps:
- uses: actions/checkout@v3
with:
Expand Down
2 changes: 1 addition & 1 deletion README.md
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# Official ROS driver for Ouster sensors

[ROS1 (melodic/noetic)](https://github.com/ouster-lidar/ouster-ros/tree/master) |
[ROS2 (rolling/humble)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
[ROS2 (rolling/humble/iron)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
[ROS2 (foxy)](https://github.com/ouster-lidar/ouster-ros/tree/ros2-foxy)

<p style="float: right;"><img width="20%" src="docs/images/logo.png" /></p>
Expand Down
40 changes: 19 additions & 21 deletions ouster-ros/launch/sensor.composite.launch.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -56,27 +56,25 @@

<group>
<push-ros-namespace namespace="$(var ouster_ns)"/>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterDriver" name="os_driver">
<param name="sensor_hostname" value="$(var sensor_hostname)"/>
<param name="udp_dest" value="$(var udp_dest)"/>
<param name="mtp_dest" value=""/>
<param name="mtp_main" value="false"/>
<param name="lidar_port" value="$(var lidar_port)"/>
<param name="imu_port" value="$(var imu_port)"/>
<param name="udp_profile_lidar" value="$(var udp_profile_lidar)"/>
<param name="lidar_mode" value="$(var lidar_mode)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="metadata" value="$(var metadata)"/>
<param name="sensor_frame" value="$(var sensor_frame)"/>
<param name="lidar_frame" value="$(var lidar_frame)"/>
<param name="imu_frame" value="$(var imu_frame)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
<param name="proc_mask" value="$(var proc_mask)"/>
<param name="scan_ring" value="$(var scan_ring)"/>
</composable_node>
</node_container>
<node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
<param name="sensor_hostname" value="$(var sensor_hostname)"/>
<param name="udp_dest" value="$(var udp_dest)"/>
<param name="mtp_dest" value=""/>
<param name="mtp_main" value="false"/>
<param name="lidar_port" value="$(var lidar_port)"/>
<param name="imu_port" value="$(var imu_port)"/>
<param name="udp_profile_lidar" value="$(var udp_profile_lidar)"/>
<param name="lidar_mode" value="$(var lidar_mode)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="metadata" value="$(var metadata)"/>
<param name="sensor_frame" value="$(var sensor_frame)"/>
<param name="lidar_frame" value="$(var lidar_frame)"/>
<param name="imu_frame" value="$(var imu_frame)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
<param name="proc_mask" value="$(var proc_mask)"/>
<param name="scan_ring" value="$(var scan_ring)"/>
</node>
</group>

<!-- HACK: configure and activate the sensor node via a process execute since state
Expand Down
46 changes: 27 additions & 19 deletions ouster-ros/launch/sensor_mtp.launch.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -52,27 +52,35 @@
<arg name="lidar_frame" default="os_lidar" description="value can not be empty"/>
<arg name="imu_frame" default="os_imu" description="value can not be empty"/>

<arg name="use_system_default_qos" default="false" description="Use the default system QoS settings"/>
<arg name="proc_mask" default="IMG|PCL|IMU|SCAN" description="
use any combination of the 4 flags to enable or disable specific processors"/>

<arg name="scan_ring" default="0" description="
use this parameter in conjunction with the SCAN flag
and choose a value the range [0, sensor_beams_count)"/>

<group>
<push-ros-namespace namespace="$(var ouster_ns)"/>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterSensor" name="os_sensor">
<param name="sensor_hostname" value="$(var sensor_hostname)"/>
<param name="udp_dest" value="$(var udp_dest)"/>
<param name="mtp_dest" value="$(var mtp_dest)"/>
<param name="mtp_main" value="$(var mtp_main)"/>
<param name="lidar_port" value="$(var lidar_port)"/>
<param name="imu_port" value="$(var imu_port)"/>
<param name="udp_profile_lidar" value="$(var udp_profile_lidar)"/>
<param name="lidar_mode" value="$(var lidar_mode)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="metadata" value="$(var metadata)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
<param name="tf_prefix" value="$(var tf_prefix)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
</composable_node>
<composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>
</node_container>
<node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
<param name="sensor_hostname" value="$(var sensor_hostname)"/>
<param name="udp_dest" value="$(var udp_dest)"/>
<param name="mtp_dest" value="$(var mtp_dest)"/>
<param name="mtp_main" value="$(var mtp_main)"/>
<param name="lidar_port" value="$(var lidar_port)"/>
<param name="imu_port" value="$(var imu_port)"/>
<param name="udp_profile_lidar" value="$(var udp_profile_lidar)"/>
<param name="lidar_mode" value="$(var lidar_mode)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="metadata" value="$(var metadata)"/>
<param name="sensor_frame" value="$(var sensor_frame)"/>
<param name="lidar_frame" value="$(var lidar_frame)"/>
<param name="imu_frame" value="$(var imu_frame)"/>
<param name="timestamp_mode" value="$(var timestamp_mode)"/>
<param name="use_system_default_qos" value="$(var use_system_default_qos)"/>
<param name="proc_mask" value="$(var proc_mask)"/>
<param name="scan_ring" value="$(var scan_ring)"/>
</node>
</group>

<!-- HACK: configure and activate the sensor node via a process execute since state
Expand Down

0 comments on commit e82239c

Please sign in to comment.