ouster_decoder

This driver/decoder is intended to replace the ouster_ros package from https://github.com/ouster-lidar/ouster_example, providing a ROS1 driver for the Ouster lidars.

The driver offers a set of features compared to the manufacturer example driver:

Detection of missing data packages: by observing the package sequence number we are able to detect lost packages from the sensor and notify the user.
Included LiDAR configuration file: no more need for the metadata json file.

The code has been tested in ROS Noetic, and has been tested with firmwares up to 2.1.

Usage

Run the ouster driver

roslaunch ouster_decoder driver.launch

Then run the decoder

roslaunch ouster_decoder decoder.launch