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Changelog

[unreleased]

  • [BUGFIX]: correctly align timestamps to the generated point cloud
  • Added support to enable loop for pcap replay + other replay config
  • Added a new launch file parameter pub_static_tf that allows users to turn off the broadcast of sensor TF transforms.
  • Introduced a new topic /ouster/telemetry that publishes ouster_ros::Telemetry messages, the topic can be turned on/off by including the token TLM in the flag proc_mask launch arg.
  • [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
  • Add a new launch file parameter min_scan_valid_columns_ratio to allow users to set the minimum ratio of valid columns in a scan for it to be processed. Default value is 0.0.

ouster_ros v0.13.0

ouster_ros(1)

  • [BREAKING] ROS1 driver code now requires C++17 (required for point cloud customization feature).
  • added the ability to customize the published point clouds(s) to velodyne point cloud format and other common pcl point types.
  • ouster_image_nodelet can operate independently from ouster_cloud_nodelet.
  • install ouster-ros and ouster_client include directories in separate folders.
  • [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]: Implement lock free ring buffer with throttling to avoid generating partial frames
  • add support for FUSA udp profile FUSA_RNG15_RFL8_NIR8_DUAL.
  • [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
  • Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled explicitly by turning on the BUILD_PCAP cmake option and having libpcap-dev installed.
  • [BREAKING] Added new launch files args azimuth_window_start and azimuth_window_end to allow users to set LIDAR FOV on startup. The new options will reset the current azimuth window to the default [0, 360] azimuth if not configured.
  • Added a new launch persist_config option to request the sensor persist the current config
  • Added a new loop option to the replay.launch file.
  • Added support for automatic sensor reconnection. Consult attempt_reconnect launch file arg documentation and the associated params to enable. Known Issues: - RVIZ can't handle image resize - Can't handle points cloud resize properly (erroneous or corrupt PointCloud) - Doesn't detect and handle invalid configurations
  • Added a new parameter organized to request publishing unorganized point cloud
  • Added a new parameter destagger to request publishing staggered point cloud
  • Added two parameters min_range, max_range to limit the lidar effective range
  • Updated ouster_client to the release of 20240425 [v0.11.1]; changes listed below.

ouster_client

  • Added a new buffered UDP source implementation BufferedUDPSource.
  • The method version_of_string is marked as deprecated, use version_from_string

instead. * Added a new method firmware_version_from_metadata which works across firmwares. * Added support for return order configuration parameter. * Added support for gyro and accelerometer FSR configuration parameters. * [BUGFIX] mtp_init_client throws a bad optional access. * [BUGFIX] properly handle 32-bit frame IDs from the * FUSA_RNG15_RFL8_NIR8_DUAL sensor UDP profile.

ouster_ros v0.10.0

ouster_ros(1)

  • [BREAKING]: updated ouster_client to the release of 20231031 [v0.10.0]; changes listed below.

  • [BREAKING]: with this release the ouster-ros driver is no longer compatible with ROS melodic

  • [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 when TIME_FROM_PTP_1588 timestamp mode is used. * [BREAKING]: the default value of ptp_utc_tai_offset is set to -37.0. To retain the same

    time offset for an existing system, users need to set ptp_utc_tai_offset to 0.0.

  • [BUGFIX]: destagger columns timestamp when generating destaggered point clouds.

  • [BUGFIX]: gracefully stop the driver when shutdown is requested.

ouster_client

  • [BREAKING] Updates to sensor_info include:
    • new fields added: build_date, image_rev, prod_pn, status, cal (representing the value stored in the calibration_status metadata JSON key), config (representing the value of the sensor_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 to sensor_info
    • to_string is now marked as deprecated

  • [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 to LidarScan

  • 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

ouster_ros v0.9.0

ouster_ros(1)

  • EOL notice: ouster-ros driver will drop support for ROS melodic by May 2023.
  • [BREAKING]: update to ouster_client release 20230403
  • [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 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 nodelets 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
  • added a no-bond option to the sensor.launch file
  • reduce the publish rate of imu tf transforms
  • implemented a new node named os_driver which combines the functionality of os_sensor, os_cloud and os_image into a single node. The new node can be launch via the new driver.launch file.
  • introduced a new topic /ouster/scan which publishes sensor_msgs::LaserScan messages, the user can pick which beam to be used for the message through the scan_ring launch argument.
  • added ability to pick which messsages to process and through the new proc_mask launch file argument.
  • introduced a new parameter point_cloud_frame to allow users to select which frame to use when publishing the point cloud (choose between sensor and lidar). The default publishing frame the sensor one which is in line with the current behavior.
  • added the ability to change the names of sensor_frame, lidar_frame and imu_frame
  • added a placeholder for the /ouster/reset (not implemented for ROS1).
  • [BREAKING]: switched back to using static transforms broadcast but with ability to select the frames to be updated dynamically and at what rate through the two new launch file arguments dynamic_transforms_broadcast and dynamic_transforms_broadcast_rate.
  • updated RVIZ color scheme for point clouds to match with the ROS2 version of the driver.

ouster_client

  • 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 the ouster::sensor::util namespace.
  • [BREAKING]: get_metadata defaults to outputting non-legacy metadata
  • add debug five_word profile which will be removed later
  • [BREAKING]: remove deprecations on LidarScan