- [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
[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 whenTIME_FROM_PTP_1588
timestamp mode is used. * [BREAKING]: the default value ofptp_utc_tai_offset
is set to-37.0
. To retain the sametime offset for an existing system, users need to set
ptp_utc_tai_offset
to0.0
.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.
- [BREAKING] Updates to
sensor_info
include: - new fields added:
build_date
,image_rev
,prod_pn
,status
,cal
(representing the value stored in thecalibration_status
metadata JSON key),config
(representing the value of thesensor_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 tosensor_info
to_string
is now marked as deprecated
- new fields added:
- [BREAKING] Updates to
[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 toLidarScan
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
- MVP ouster-ros targeting ros2 distros (beta release)
- introduced a
reset
service to theos_sensor
node - breaking change: updated to ouster sdk release 20230403
- EOL notice: ouster-ros driver will drop support for
ROS foxy
by May 2023. - bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist in the original metadata file.
- added a new launch file
sensor_mtp.launch.xml
for multicast use case (experimental). - added a technique to estimate the the value of the lidar scan timestamp when it is missing packets at the beginning
- add frame_id to image topics
- fixed a potential issue of time values within generated point clouds that could result in a value overflow
- added a new
/ouster/metadata
topic that is consumed by os_cloud and os_image nodes and save it to the bag file on record - make specifying metadata file optional during record and replay modes as of package version 8.1
- replace
tf_prefix
fromos_cloud
withsensor_frame
,lidar_frame
andimu_frame
launch parameters. - bugfix: fixed an issue that prevents running multiple instances of the sensor and cloud components in the same process.
- switch to using static transform publisher for the ros2 driver.
- implemented a new node named
os_driver
which combines the functionality ofos_sensor
,os_cloud
andos_image
into a single node. - added support to parse the same parameters provided by the
ros2_ouster_driver
, the parameters arelidar_ip
,computer_ip
,proc_mask
anduse_system_default_qos
; the parameters are fully functional and similar to what theros2_ouster_driver
provides. - for convenience introduced a new launch file
driver_launch.py
that is compatible with theros2_ouster_driver
in terms of parameters it accepts and the name of published topics. - introduced a new parameter
point_cloud_frame
to allow users to select which frame to use when publishing the point cloud (choose betweensensor
andlidar
). - breaking:
lidar
frame is the default frame used when publishing point clouds. - added the ability to choose between
SensorDataQoS
orSystemDefaultQoS
across all published topics withSensorDataQoS
selected by default for live sensor mode andSystemDefaultQoS
enabled for record and replay modes. - introduced a new topic
/ouster/scan
which publishessensor_msgs::msg::LaserScan
messages - fix: on dual returns the 2nd point cloud replaces the 1st one.
- breaking: merge
ouster-srvs
package intoouster-msgs
.
- added a new method
mtp_init_client
to init the client with multicast support (experimental). - the class
SensorHttp
which provides easy access to REST APIs of the sensor has been made public under theouster::sensor::util
namespace. - breaking change: get_metadata defaults to outputting non-legacy metadata
- add debug five_word profile which will be removed later
- breaking change: remove deprecations on LidarScan