Ouster Setup

One time setup

These are bash commands in Linux to setup the connection. These steps only need to happen the first time you set up the LiDAR. After the first time, when you establish the network connection to the sensor, you can just select this created network profile. Ensure the sensor is powered off and disconnected at this point.

The [eth name] is the nework interface you're connecting to. On older Linux systems, that's eth0 or similar. In newer versions, its enp... or enx... when you look at the output of ifconfig.

 ip addr flush dev [eth name]
 ip addr show dev [eth name]

The output you see from show should look something like [eth name] ... state DOWN .... Its only important that you see DOWN and not UP. Next, lets setup a static IP address for your machine so you can rely on this in the future. Ouster uses the 10.5.5.* range, and I don't see a compelling reason to argue with it.

sudo ip addr add 10.5.5.1/24 dev [eth name]

Now, lets setup the connection. At this point you may now plug in and power on your sensor.

sudo ip link set [eth name] up
sudo addr show dev [eth name]

The output you see from show should look something like [eth name] ... state UP .... Its only important that you see UP now and not DOWN. At this point, you've setup the networking needed for the one time setup.

Connection

We can setup the network connection to the sensor now with the proper settings. Note: This command could take up to 30 seconds to setup, be patient. If after a minute you see no results, then you probably have an issue. Start the instructions above over. Lets set up the network

sudo dnsmasq -C /dev/null -kd -F 10.5.5.50,10.5.5.100 -i [eth name] --bind-dynamic

Instantly you should see something similar to:

dnsmasq: started, version 2.75 cachesize 150
dnsmasq: compile time options: IPv6 GNU-getopt DBus i18n IDN DHCP DHCPv6 no-Lua TFTP conntrack ipset auth DNSSEC loop-detect inotify
dnsmasq-dhcp: DHCP, IP range 10.5.5.50 -- 10.5.5.100, lease time 1h
dnsmasq-dhcp: DHCP, sockets bound exclusively to interface enxa0cec8c012f8
dnsmasq: reading /etc/resolv.conf
dnsmasq: using nameserver 127.0.1.1#53
dnsmasq: read /etc/hosts - 10 addresses

You need to wait until you see something like:

dnsmasq-dhcp: DHCPDISCOVER(enxa0cec8c012f8) [HWaddr]
dnsmasq-dhcp: DHCPOFFER(enxa0cec8c012f8) 10.5.5.87 [HWaddr]
dnsmasq-dhcp: DHCPREQUEST(enxa0cec8c012f8) 10.5.5.87 [HWaddr]
dnsmasq-dhcp: DHCPACK(enxa0cec8c012f8) 10.5.5.87 [HWaddr] os1-SerialNumXX

Now you're ready for business. Lets see what IP addgress its on (10.5.5.87). Lets ping it

ping 10.5.5.87

Changing to a fixed IP address

If you don't have httpie install with

sudo apt install httpie

Now change it with

echo '"10.5.5.XX/24"' | http -v PUT http://10.5.5.YY/api/v1/system/network/ipv4/override

Where XX is the IP you want to use and YY is the IP that the sensor got from the DHCP server

Make host automatically connect to this network

Add the following to your network interfaces (sudo vim /etc/network/interfaces)

auto [eth name]
iface [eth name] inet static
address 10.5.5.1
netmask 255.255.255.0