Merge pull request #6 from Formula-Electric-Belgium/ouster-lidar-ros2

Ouster lidar ros2

Author: wouter-heerwegh

.github/workflows/docker-image.yml

@@ -14,14 +14,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
+        exclude:
+          - ros_distro: iron
         ros_distro:
           - rolling
           - humble
           - iron
           - jazzy
+          - kilted
         rmw_imp:
           - rmw_fastrtps_cpp
           - rmw_cyclonedds_cpp
+          - rmw_zenoh_cpp
     steps:
       - uses: actions/checkout@v4
         with:

CHANGELOG.rst

@@ -5,9 +5,25 @@ 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 braodcast
+* [BUGFIX]: NEAR_IR data is not populated with data for organized point clouds that have no range.
+* Add support to enable **loop** for pcap replay + other replay config.
+* Add a new launch file parameter ``pub_static_tf`` that allows users to turn off the braodcast
   of sensor TF transforms.
+* Introduce 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.
+* 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``.
+* Update where ouster-ros and ouster_client include directories get installed so that those headers
+  can be included externally.
+* Add ``storage`` launch parameter to ``record.launch.xml``
+* Add a padding-free point type of ``PointXYZI`` under ``ouster_ros`` namespace contrary to the pcl
+  version ``pcl::PointXYZI`` for bandwith sensitive applications.
+* [BUGFIX]: Use the node clock to ensure messages report sim time in replay mode.
+* Introduce a new param ``v_reduction`` that allows reducing the number of beams count of the published
+  point cloud
+* Allow users to use ``Zenoh`` with the supplied Dockerfile and add it to the CI pipeline.
+* Introduce a new capability to suppress certain range measurements of the point cloud by providing
+  a mask image to the driver through the ``mask_path`` launch file argument.
 
 
 ouster_ros v0.13.2

Dockerfile

@@ -2,28 +2,29 @@ ARG ROS_DISTRO=rolling
 ARG RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 FROM ros:${ROS_DISTRO}-ros-core AS build-env
+ARG RMW_IMPLEMENTATION
+ARG ROS_DISTRO
 ENV DEBIAN_FRONTEND=noninteractive \
     RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION} \
     BUILD_HOME=/var/lib/build \
     OUSTER_ROS_PATH=/opt/ros2_ws/src/ouster-ros
 
-RUN set -xue \
-# Turn off installing extra packages globally to slim down rosdep install
-&& echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
-&& apt-get update \
-&& apt-get install -y       \
-    build-essential         \
-    cmake                   \
-    fakeroot                \
-    dpkg-dev                \
-    debhelper               \
-    python3-rosdep          \
-    python3-rospkg          \
-    python3-bloom           \
-    python3-colcon-common-extensions
+RUN set -xue && \
+    apt-get update && \
+    apt-get install -y \
+        build-essential \
+        cmake \
+        fakeroot \
+        dpkg-dev \
+        python3-rosdep \
+        python3-rospkg \
+        python3-bloom \
+        python3-colcon-common-extensions
 
 RUN if [ "$RMW_IMPLEMENTATION" = "rmw_cyclonedds_cpp" ]; then \
         apt-get install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp; \
+    elif [ "$RMW_IMPLEMENTATION" = "rmw_zenoh_cpp" ]; then \
+        apt-get install -y ros-${ROS_DISTRO}-rmw-zenoh-cpp; \
     fi
 
 # Set up non-root build user
@@ -50,9 +51,8 @@ WORKDIR ${BUILD_HOME}
 RUN set -xe \
 && mkdir src \
 && cp -R $OUSTER_ROS_PATH ./src
-
-
 FROM build-env
+ARG ROS_DISTRO
 
 SHELL ["/bin/bash", "-c"]
 

README.md

@@ -1,15 +1,15 @@
 # Official ROS driver for Ouster sensors
 
 [ROS1 (melodic/noetic)](https://github.com/ouster-lidar/ouster-ros/tree/master) |
-[ROS2 (rolling/humble/iron/jazzy)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
+[ROS2 (rolling/humble/iron/jazzy/kilted)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
 [ROS2 (galactic/foxy)](https://github.com/ouster-lidar/ouster-ros/tree/ros2-foxy)
 
 <p style="float: right;"><img width="20%" src="docs/images/logo.png" /></p>
 
 | ROS Version | Build Status (Linux) |
 |:-----------:|:------:|
 | ROS1 (melodic/noetic) | [![melodic/noetic](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=master)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
-| ROS2 (rolling/humble/iron/jazzy) | [![rolling/humble/iron/jazzy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
+| ROS2 (rolling/humble/iron/jazzy/kilted) | [![rolling/humble/iron/jazzy/kilted](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 | ROS2 (galactic/foxy) | [![galactic/foxy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2-foxy)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
 
 - [Official ROS driver for Ouster sensors](#official-ros-driver-for-ouster-sensors)
@@ -57,9 +57,9 @@ You can obtain detailed specs sheet about the sensors and obtain updated FW thro
 [downloads](https://ouster.com/downloads) section.
 
 ## Requirements
-This branch is only intended for use with **Rolling**, **Humble**, **Iron** and **Jazzy** ROS 2 distros.
-Please refer to ROS 2 online documentation on how to setup ROS on your machine before proceeding with
-the remainder of this guide.
+This branch is only intended for use with **Rolling**, **Humble**, **Iron**,  **Jazzy** and **Kilted**
+ROS 2 distros. Please refer to ROS 2 online documentation on how to setup ROS on your machine before
+proceeding with the remainder of this guide.
 
 > **Note**  
 > If you have _rosdep_ tool installed on your system you can then use the following command to get all
@@ -77,7 +77,7 @@ sudo apt install -y             \
     ros-$ROS_DISTRO-tf2-eigen   \
     ros-$ROS_DISTRO-rviz2
 ```
-where `$ROS_DISTRO` can be either ``rolling``, ``humble``, ``iron`` or ``jazzy``.
+where `$ROS_DISTRO` can be either ``rolling``, ``humble``, ``iron``, ``jazzy`` or ``kilted``.
 
 > **Note**  
 > Installing `ros-$ROS_DISTRO-rviz` package is optional in case you didn't need to visualize the
@@ -120,7 +120,7 @@ git clone -b ros2 --recurse-submodules https://github.com/ouster-lidar/ouster-ro
 
 Next to compile the driver you need to source the ROS environemt into the active termainl:
 ```bash
-source /opt/ros/<ros-distro>/setup.bash # replace ros-distro with 'rolling', 'humble', 'iron' or 'jazzy'
+source /opt/ros/<ros-distro>/setup.bash # replace ros-distro with 'rolling', 'humble', 'iron', 'jazzy' or `kilted`
 ```
 
 Finally, invoke `colcon build` command from within the catkin workspace as shown below:
@@ -136,7 +136,15 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 > **FastDDS** is usually the default ros middleware on most platforms, please follow the
 [Guide](https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html)
 to learn how to enable **CycloneDDS** on your platform.  
-> We are yet to evaluate Zeonh performance against the ouster-ros driver for later distros.  
+> The **Zeonh** ROS middleware is now available for use with ouster-ros driver from Humble and afterwards
+> (exlcuding Iron). Zenoh have received great feedback from the ROS community but that's in general, we don't
+> have a comparative analysis against the other middlewares, to enable Zenoh:
+> ```bash
+> sudo apt install ros-${ROS_DISTRO}-rmw-zenoh-cpp
+> export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+> ```
+> then follow the instructions here and rebuild the ouster-ros driver (clean build).
+
 
 Once the build succeeds, you must source the _install_ folder of your ros2 workspace to add launch
 commands to your environment:

ouster-ros/CMakeLists.txt

@@ -21,6 +21,7 @@ find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 find_package(pcl_conversions REQUIRED)
 find_package(tf2_eigen REQUIRED)
+find_package(OpenCV REQUIRED)
 
 # ==== Options ====
 add_compile_options(-Wall -Wextra)
@@ -52,7 +53,9 @@ find_package(OusterSDK REQUIRED)
 set(BUILD_SHARED_LIBS ${_SAVE_BUILD_SHARED_LIBS})
 
 # catkin adds all include dirs to a single variable, don't try to use targets
-include_directories(${_ouster_ros_INCLUDE_DIRS})
+include_directories(
+  ${_ouster_ros_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS})
 
 # use only MPL-licensed parts of eigen
 add_definitions(-DEIGEN_MPL2_ONLY)
@@ -86,6 +89,7 @@ target_link_libraries(ouster_ros_library
     pcl_common
   # PRIVATE (unsupported)
   -Wl,--whole-archive ${OUSTER_TARGET_LINKS} -Wl,--no-whole-archive
+  ${OpenCV_LIBRARIES}
 )
 
 # helper method to construct ouster-ros components
@@ -231,9 +235,16 @@ install(
 
 install(
   DIRECTORY
-    ${_ouster_ros_INCLUDE_DIRS}
+    include/${PROJECT_NAME}/
   DESTINATION
-    .
+    include/${PROJECT_NAME}/
+)
+
+install(
+  DIRECTORY
+    ouster-sdk/ouster_client/include/ouster
+    ouster-sdk/ouster_client/include/optional-lite/nonstd
+  DESTINATION include
 )
 
 install(

ouster-ros/config/community_driver_config.yaml

@@ -51,4 +51,4 @@ ouster_driver:
     # IMG|PCL|IMU|SCAN
     # PCL
     #
-    proc_mask: IMG|PCL|IMU|SCAN
+    proc_mask: IMG|PCL|IMU|SCAN|TLM

ouster-ros/config/driver_params.yaml

@@ -61,9 +61,9 @@ ouster/os_driver:
     # broadcast the TF transforms for the imu/sensor/lidar frames. Prevent the
     # driver from broadcasting TF transforms by setting this parameter to False.
     pub_static_tf: true
-    # proc_mask[optional]: use any combination of the 4 flags IMG, PCL, IMU and
-    # SCAN to enable or disable their respective messages.
-    proc_mask: IMU|PCL|SCAN|IMG|RAW
+    # proc_mask[optional]: use any combination of the 6 flags IMG, PCL, IMU, SCAN
+    # RAW and TLM to enable or disable their respective messages.
+    proc_mask: IMU|PCL|SCAN|IMG|RAW|TLM
     # 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).
@@ -72,7 +72,8 @@ ouster/os_driver:
     # data QoS. This is preferrable for production but default QoS is needed for
     # rosbag. See: https://github.com/ros2/rosbag2/issues/125
     use_system_default_qos: false
-    # point_type[optional]: choose from: {original, native, xyz, xyzi, xyzir}
+    # point_type[optional]: choose from: {original, native, xyz, xyzi, o_xyzi, 
+    #                                     yzir}
     # Here is a breif description of each option:
     #  - original: This uses the original point representation ouster_ros::Point
     #          of the ouster-ros driver.
@@ -82,6 +83,7 @@ ouster/os_driver:
     #  - 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.
+    #  - o_xyzi: same as xyzi point type but doesn't add the extra 4 padding bytes.
     #  - 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.
@@ -115,3 +117,11 @@ ouster/os_driver:
     min_range: 0.0
     # max_range[optional]: maximum lidar range to consider (meters).
     max_range: 1000.0
+    # v_reduction[optional]: vertical beam reduction; available options: {1, 2, 4, 8, 16}.
+    v_reduction: 1
+    # min_scan_valid_columns_ratio[optional]: The minimum ratio of valid columns for
+    # processing the LidarScan [0, 1]. default is 0%
+    min_scan_valid_columns_ratio: 0.0
+    # mask_path[optional]: path to an image file that will be used to mask parts of the
+    # pointcloud.
+    mask_path: ''

ouster-ros/config/metadata-qos-override.yaml

@@ -3,3 +3,9 @@
   depth: 1
   reliability: reliable
   durability: transient_local
+
+/os_node/metadata:
+  history: keep_last
+  depth: 1
+  reliability: reliable
+  durability: transient_local

ouster-ros/config/os_sensor_cloud_image_params.yaml

@@ -30,10 +30,10 @@ ouster/os_cloud:
     pub_static_tf: true
     timestamp_mode: ''  # this value needs to match os_sensor/timestamp_mode
     ptp_utc_tai_offset: -37.0 # UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588
-    proc_mask: IMU|PCL|SCAN # pick IMU, PCL, SCAN or any combination of the three options
+    proc_mask: IMU|PCL|SCAN|TLM # pick IMU, PCL, SCAN, TLM or any combination of the 4 options
     use_system_default_qos: false # needs to match the value defined for os_sensor node
     scan_ring: 0  # Use this parameter in conjunction with the SCAN flag and choose a
                   # value the range [0, sensor_beams_count)
-    point_type: original # choose from: {original, native, xyz, xyzi, xyzir}
+    point_type: original # choose from: {original, native, xyz, xyzi, o_xyzi, xyzir}
 ouster/os_image:
     use_system_default_qos: false # needs to match the value defined for os_sensor node

ouster-ros/include/ouster_ros/common_point_types.h

@@ -16,6 +16,52 @@ namespace ouster_ros {
    representation that we readily support.
  */
 
+/*
+ * Same as Apollo point cloud type
+ * @remark XYZIT point type is not compatible with RNG15_RFL8_NIR8/LOW_DATA
+ * udp lidar profile.
+ */
+struct EIGEN_ALIGN16 _Ouster_PointXYZI {
+    union EIGEN_ALIGN16 {
+        float data[4];
+        struct {
+          float x;
+          float y;
+          float z;
+          float intensity;
+        };
+   };
+   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct PointXYZI : public _Ouster_PointXYZI {
+
+    inline PointXYZI(const _Ouster_PointXYZI& pt)
+    {
+      x = pt.x; y = pt.y; z = pt.z;
+      intensity = pt.intensity;
+    }
+
+    inline PointXYZI()
+    {
+      x = y = z = 0.0f; data[3] = 1.0f;
+      intensity = 0.0f;
+    }
+
+    inline const auto as_tuple() const {
+        return std::tie(x, y, z, intensity);
+    }
+
+    inline auto as_tuple() {
+        return std::tie(x, y, z, intensity);
+    }
+
+    template<size_t I>
+    inline auto& get() {
+        return std::get<I>(as_tuple());
+    }
+};
+
 /*
  * Same as Velodyne point cloud type
  * @remark XYZIR point type is not compatible with RNG15_RFL8_NIR8/LOW_DATA
@@ -60,6 +106,13 @@ struct PointXYZIR : public _PointXYZIR {
 
 // clang-format off
 
+POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::PointXYZI,
+    (float, x, x)
+    (float, y, y)
+    (float, z, z)
+    (float, intensity, intensity)
+)
+
 /* common point types */
 POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::PointXYZIR,
     (float, x, x)