First commit for Autoware version branch. Modified the original Ouster ROS code to suit Autoware needs. Code structure is more simple, only ROS driver code is kept, and the readme.md file has more details on how to configure the sensor and use this driver. To further ease Autoware integration, Velodyne compatibility options were added and tested with ndt_matching, ray_ground_filter and euclidean_cluster nodes.

Author: alexandrx

.gitignore

@@ -1,6 +1,47 @@
-/CMakeLists.txt
-.catkin_tools/
-build/
-devel/
-logs/
-install/
+# GNU global tags
+GTAGS
+GRTAGS
+GSYMS
+GPATH
+
+# Python byte-compile file
+__pycache__/
+*.py[co]
+.ycm_extra_conf.py
+# editor backup files
+*~
+\#*\#
+
+# backup files
+*.bak
+
+# Eclipse
+.cproject
+.project
+.pydevproject
+.settings/
+
+# Visual Studio Code
+.vscode/
+
+# CLion
+.idea/
+cmake-build-debug/
+
+# clang-format
+#.clang-format
+
+# ROSBag files
+*.bag
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+
+# Autoware Resources
+*.pcap
+*.pcd
+*.bag

.travis.yml

@@ -0,0 +1,56 @@
+sudo: required
+dist: xenial
+language: generic
+services:
+  - docker
+compiler:
+  - gcc
+
+notifications:
+  email:
+    on_failure: always
+
+env:
+  global:
+    - ROS_CI_DESKTOP="`lsb_release -cs`"
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    - PYTHONPATH=${PYTHONPATH}:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+    - WS_DIR="`mktemp -u ~/ouster_ws_tmp.XXXXXXXXXXXXXXXX`"
+  matrix:
+    - ROS_DISTRO="indigo" ROS_REPO=ros DOCKER_BASE_IMAGE=ros:indigo-ros-core
+    - ROS_DISTRO="kinetic" ROS_REPO=ros DOCKER_BASE_IMAGE=ros:kinetic-ros-core
+
+before_install:
+  -   sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list";
+      travis_retry sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;
+      travis_retry sudo apt-get update;
+      travis_retry sudo apt-get install -y dpkg;
+      travis_retry sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-${ROS_DISTRO}-catkin;
+      source /opt/ros/${ROS_DISTRO}/setup.bash;
+      travis_retry sudo rosdep init;
+      travis_retry rosdep update;
+
+install:
+  - mkdir -p $WS_DIR/src
+  - cd $WS_DIR/src
+  - catkin_init_workspace
+  - cd $WS_DIR
+  - catkin_make
+  - source devel/setup.bash
+  - cd $WS_DIR/src
+  - ln -s $CI_SOURCE_PATH .
+
+before_script:
+  - cd $WS_DIR/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  - cd $WS_DIR
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+script:
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd $WS_DIR
+  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )

ouster_ros/CMakeLists.txt renamed to CMakeLists.txt

@@ -10,7 +10,6 @@ find_package(catkin REQUIRED COMPONENTS
   pcl_ros
   pcl_conversions
   roscpp
-  ouster_client
 )
 
 add_message_files(DIRECTORY msg FILES PacketMsg.msg)
@@ -27,7 +26,7 @@ catkin_package(
   CATKIN_DEPENDS pcl_ros pcl_conversions roscpp message_runtime std_msgs sensor_msgs
 )
 
-add_library(ouster_ros STATIC src/os1_ros.cpp)
+add_library(ouster_ros STATIC src/os1_ros.cpp src/os1.cpp)
 target_link_libraries(ouster_ros ${catkin_LIBRARIES})
 add_dependencies(ouster_ros ${PROJECT_NAME}_gencpp)
 

ouster_client/include/ouster/os1.h renamed to include/ouster/os1.h

@@ -21,6 +21,7 @@ namespace ouster_ros {
 namespace OS1 {
 
 using CloudOS1 = pcl::PointCloud<PointOS1>;
+using CloudOS1XYZIR = pcl::PointCloud<PointOS1XYZIR>;
 using ns = std::chrono::nanoseconds;
 
 /**
@@ -59,9 +60,13 @@ ns timestamp_of_lidar_packet(const PacketMsg& pm);
 /**
  * Parse an imu packet message into a ROS imu message
  * @param pm packet message populated by read_imu_packet
+ * @param frame the frame to set in the resulting ROS message
  * @returns ROS sensor message with fields populated from the OS1 packet
+ * 
+ * @note Modified to support custom message frame name
  */
-sensor_msgs::Imu packet_to_imu_msg(const PacketMsg& pm);
+sensor_msgs::Imu packet_to_imu_msg(const PacketMsg& pm,
+                                   const std::string& frame = "os1_imu");
 
 /**
  * Accumulate points from a lidar packet message into a PCL point cloud. All
@@ -108,5 +113,19 @@ void spin(const ouster::OS1::client& cli,
  */
 std::function<void(const PacketMsg&)> batch_packets(
     ns scan_dur, const std::function<void(ns, const CloudOS1&)>& f);
+
+/**
+ * Define the pointcloud type to use
+ * @param mode_xyzir to publish PointXYZIR point cloud type (when true), or the native PointOS1 (when false)
+ *
+ * @note This function was added to support velodyne compatible mode.
+ */
+void set_point_mode(bool mode_xyzir);
+
+/**
+ * Converts the OS1 native point format to XYZIR (Velodyne like) 
+ */
+void convert2XYZIR(const CloudOS1& in, CloudOS1XYZIR& out);
+
 }
 }

ouster_client/include/ouster/os1_packet.h renamed to include/ouster/os1_packet.h

@@ -13,6 +13,13 @@ struct EIGEN_ALIGN16 PointOS1 {
     uint8_t ring;
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+
+struct EIGEN_ALIGN16 PointOS1XYZIR {
+    PCL_ADD_POINT4D;                    // quad-word XYZ
+    float    intensity;                 ///< laser intensity reading
+    uint16_t ring;                      ///< laser ring number
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW     // ensure proper alignment
+};
 }
 }
 
@@ -26,3 +33,11 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::OS1::PointOS1,
     (uint8_t, ring, ring)
 )
 
+POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::OS1::PointOS1XYZIR,
+    (float, x, x)
+    (float, y, y)
+    (float, z, z)
+    (float, intensity, intensity)
+    (uint16_t, ring, ring)
+)
+

ouster_ros/include/ouster_ros/os1_ros.h renamed to include/ouster_ros/os1_ros.h

@@ -0,0 +1,30 @@
+<!-- -*- mode: XML -*- -->
+<!-- start Ouster OS1 driver -->
+
+<launch>
+
+  <arg name="lidar_address" default="192.168.2.105" doc="hostname or IP address in dotted decimal form of the Ouster sensor"/>
+  <arg name="pc_address" default="192.168.2.1" doc="hostname or IP address of the computer (PC) where the sensor will send data packets"/>
+  <arg name="lidar_port" default="7502" doc="port to which the sensor should send lidar data"/>
+  <arg name="imu_port" default="7503" doc="port to which the sensor should send imu data"/>
+  <arg name="replay" default="false" doc="when true, the node will listen on ~/lidar_packets and ~/imu_packets for data instead of attempting to connect to a sensor"/>
+  <arg name="scan_dur_ns" default="100000000" doc="nanoseconds to batch lidar packets before publishing a cloud"/>
+  <arg name="mode_xyzir" default="true" doc="Point cloud mode, either XYZIR (velodyne compatible) on true, or the default for PointOS1 on false"/>
+  <arg name="lidar_frame_name" default="velodyne" doc="Frame name for lidar output message"/>
+  <arg name="imu_frame_name" default="imu" doc="Frame name for IMU output message"/>
+
+  <node pkg="ouster_ros" type="os1_node" name="os1_node" output="log" >
+    <param name="os1_lidar_address" value="$(arg lidar_address)"/>
+    <param name="pc_address" value="$(arg pc_address)"/>
+    <param name="os1_lidar_port" value="$(arg lidar_port)"/>
+    <param name="os1_imu_port" value="$(arg imu_port)"/>
+    <param name="replay" value="$(arg replay)"/>
+    <param name="scan_dur_ns" value="$(arg scan_dur_ns)"/>
+    <param name="points_topic_name" value="/points_raw"/>
+    <param name="imu_topic_name" value="/imu_raw"/>
+    <param name="lidar_frame_name" value="$(arg lidar_frame_name)"/>
+    <param name="imu_frame_name" value="$(arg imu_frame_name)"/>
+    <param name="mode_xyzir" value="$(arg mode_xyzir)"/>
+  </node>
+
+</launch>