Migrate sensor dirver (#8)

Migrate sensor driver to the official Ouster ROS 2 driver to mitigate
points missing issue.

Dockerfile

@@ -4,7 +4,7 @@ FROM ros:humble-ros-base-jammy AS base
 RUN apt-get update \
     && DEBIAN_FRONTEND=noninteractive \
         apt-get -y --quiet --no-install-recommends install \
-        ros-"$ROS_DISTRO"-ros2-ouster \
+        git \
         # Install Cyclone DDS ROS RMW
         ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
@@ -24,6 +24,10 @@ ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
 # Enable ROS log colorised output
 ENV RCUTILS_COLORIZED_OUTPUT=1
 
+# Clone Ouster ROS 2 driver source
+RUN git clone --recursive --branch ros2 \
+    https://github.com/ouster-lidar/ouster-ros.git src/ouster-ros
+
 # -----------------------------------------------------------------------
 
 FROM base AS prebuilt

av_ouster_launch/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package av_ouster_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Migrate sensor driver to Ouster's official
+  ROS 2 driver
+* Adapt launch pipeline for new driver
+  - driver_launch.py is removed
+* Contributors: hect95
+
 1.2.0 (2024-06-05)
 ------------------
 * Add bash args to optionally load local cyclone_dds

av_ouster_launch/launch/av_ouster.launch.xml

@@ -1,5 +1,14 @@
 <launch>
-  <include file="$(find-pkg-share av_ouster_launch)/launch/driver_launch.py">
-    <arg name="params_file" value="$(find-pkg-share av_ouster_launch)/params/av_ouster_config.yaml"/>
-  </include>
+  <arg name="ouster_ns" default="sensor/lidar/top"/>
+  <group>
+    <push-ros-namespace namespace="$(var ouster_ns)"/>
+    <node pkg="ouster_ros" exec="os_driver" name="os_driver" output="screen">
+      <param from="$(find-pkg-share av_ouster_launch)/params/av_ouster_config.yaml"/>
+    </node>
+  </group>
+
+  <!-- HACK: configure and activate the sensor node via a process execute since state
+    transition is currently not available through launch.xml format -->
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver configure" launch-prefix="bash -c 'sleep 0; $0 $@'" output="screen"/>
+  <executable cmd="$(find-exec ros2) lifecycle set /$(var ouster_ns)/os_driver activate" launch-prefix="bash -c 'sleep 1; $0 $@'" output="screen"/>
 </launch>

av_ouster_launch/package.xml

@@ -10,7 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ros2_ouster</depend>
+  <depend>ouster_ros</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

av_ouster_launch/params/av_ouster_config.yaml

@@ -1,52 +1,89 @@
 /**:
   ros__parameters:
-    lidar_ip: 172.31.2.10
-    computer_ip: 172.31.0.1
-    lidar_mode: "2048x10"
-    imu_port: 0
+    # sensor_hostname[required]: hostname or IP address of the sensor (IP4 or
+    # IP6).
+    sensor_hostname: '172.31.2.10'
+    # udp_dest[optional]: hostname or multicast group IP where the sensor will
+    # send UDP data packets.
+    udp_dest: '172.31.0.1'
+    # mtp_dest[optional]: hostname IP address for receiving data packets via
+    # multicast, by default it is INADDR_ANY, so packets will be received on
+    # first available network interface.
+    mtp_dest: ''
+    # mtp_main[optional]: if true, then configure and reinit the sensor,
+    # otherwise start client with active configuration of sensor
+    mtp_main: false
+    # lidar_mode[optional]: resolution and rate; possible values: { 512x10,
+    # 512x20, 1024x10, 1024x20, 2048x10, 4096x5 }. Leave empty to remain on
+    # current the lidar mode.
+    lidar_mode: '2048x10'
+    # timestamp_mode[optional]: method used to timestamp measurements; possible
+    # values:
+    # - TIME_FROM_INTERNAL_OSC
+    # - TIME_FROM_SYNC_PULSE_IN
+    # - TIME_FROM_PTP_1588
+    # - TIME_FROM_ROS_TIME: This option uses the time of reception of first
+    #                       packet of a LidarScan as the timestamp of the IMU,
+    #                       PointCloud2 and LaserScan messages.
+    timestamp_mode: 'TIME_FROM_ROS_TIME'
+    # ptp_utc_tai_offset[optional]: UTC/TAI offset in seconds to apply when
+    # TIME_FROM_PTP_1588 timestamp mode is used.
+    ptp_utc_tai_offset: -37.0
+    # udp_profile_lidar[optional]: lidar packet profile; possible values:
+    # - LEGACY: not recommended
+    # - RNG19_RFL8_SIG16_NIR16
+    # - RNG15_RFL8_NIR8
+    # - RNG19_RFL8_SIG16_NIR16_DUAL
+    # - FUSA_RNG15_RFL8_NIR8_DUAL
+    udp_profile_lidar: 'LEGACY'
+    # metadata[optional]: path to save metadata file to, if left empty a file
+    # with the sensor hostname or ip will be crearted in ~/.ros folder.
+    metadata: ''
+    # lidar_port[optional]: port value should be in the range [0, 65535]. If you
+    # use 0 as the port value then the first available port number will be
+    # assigned.
     lidar_port: 0
-    sensor_frame: laser_data_frame
-    laser_frame: lidar_ouster_top
-    imu_frame: imu_data_frame
-
-    # if False, data are published with sensor data QoS. This is preferable
-    # for production but default QoS is needed for rosbag.
-    # See: https://github.com/ros2/rosbag2/issues/125
-    use_system_default_qos: True
-
-    # Set the method used to timestamp measurements.
-    # Valid modes are:
-    #
-    #   TIME_FROM_INTERNAL_OSC
-    #   TIME_FROM_SYNC_PULSE_IN
-    #   TIME_FROM_PTP_1588
-    #   TIME_FROM_ROS_RECEPTION
-    #
-    # (See this project's README and/or the Ouster Software Guide for more
-    # information).
-    #
-    timestamp_mode: TIME_FROM_ROS_RECEPTION
-
-    # Mask-like-string used to define the data processors that should be
-    # activated upon startup of the driver. This will determine the topics
-    # that are available for client applications to consume. The defacto
-    # reference for these values are defined in:
-    # `include/ros2_ouster/processors/processor_factories.hpp`
-    #
-    # For convenience, the available data processors are:
-    #
-    # IMG   - Provides 8-bit image topics suitable for ML applications encoding
-    #         the range, ambient and intensity data from a scan
-    # PCL   - Provides a point cloud encoding of a LiDAR scan
-    # IMU   - Provides a data stream from the LiDARs integral IMU
-    # SCAN  - Provides a synthesized 2D LaserScan from the 3D LiDAR data
-    #
-    # To construct a valid string for this parameter join the tokens from above
-    # (in any combination) with the pipe character. For example, valid strings
-    # include (but are not limited to):
-    #
-    # IMG|PCL
-    # IMG|PCL|IMU|SCAN
-    # PCL
-    #
+    # imu_port[optional]: port value should be in the range [0, 65535]. If you
+    # use 0 as the port value then the first available port number will be
+    # assigned.
+    imu_port: 0
+    # sensor_frame[optional]: name to use when referring to the sensor frame.
+    sensor_frame: lidar_ouster_top
+    # lidar_frame[optional]: name to use when referring to the lidar frame.
+    lidar_frame: lidar_ouster_sensor
+    # imu_frame[optional]: name to use when referring to the imu frame.
+    imu_frame: imu_ouster
+    # point_cloud_frame[optional]: which frame of reference to use when
+    # generating PointCloud2 or LaserScan messages, select between the values of
+    # lidar_frame and sensor_frame.
+    point_cloud_frame: lidar_ouster_top
+    # proc_mask[optional]: use any combination of the 4 flags IMG, PCL, IMU and
+    # SCAN to enable or disable their respective messages.
     proc_mask: PCL
+    # scan_ring[optional]: use this parameter in conjunction with the SCAN flag
+    # to select which beam of the LidarScan to use when producing the LaserScan
+    # message. Choose a value the range [0, sensor_beams_count).
+    scan_ring: 0
+    # use_system_default_qos[optional]: if false, data are published with sensor
+    # data QoS. This is preferable for production but default QoS is needed for
+    # rosbag. See: https://github.com/ros2/rosbag2/issues/125
+    use_system_default_qos: true
+    # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
+    # Here is a brief 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 addition 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

cyclone_dds.xml

@@ -8,7 +8,7 @@ https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclo
             </Interfaces>
         </General>
         <Internal>
-            <SocketReceiveBufferSize min="10MB"/>
+            <SocketReceiveBufferSize min="14MB"/>
         </Internal>
     </Domain>
 </CycloneDDS>