crowsnest-connector-lidar-ouster

A crowsnest microservice for connecting to an Ouster Lidar

How it works

For now, this microservice jsut does the basics.

• Connects to an already configured Ouster sensor
• Listens on the continuous stream of LidarScanPackets
• Transform these to the NED frame (requires manual input for now and assumes a static sensor)
• Wraps into a brefv message and outputs over MQTT

For configuring the sensor hardware, the TCP API is recommended.

Typical setup (docker-compose)

version: '3'
services:

  ouster-lidar:
    image: ghcr.io/mo-rise/crowsnest-connector-lidar-ouster:latest
    restart: unless-stopped
    network_mode: "host"
    environment:
      - MQTT_BROKER_HOST=localhost
      - MQTT_BROKER_PORT=1883
      - MQTT_TOPIC_POINTCLOUD=CROWSNEST/<platform>/LIDAR/<device_id>/POINTCLOUD
      - OUSTER_HOSTNAME=<IP of sensor>
      - OUSTER_ATTITUDE=90,45,180
      - POINTCLOUD_FREQUENCY=2

Development setup

To setup the development environment:

python3 -m venv venv
source ven/bin/activate

Install everything thats needed for development:

pip install -r requirements_dev.txt

To run the linters:

black main.py tests
pylint main.py

To run the tests:

no automatic tests yet...

License

Apache 2.0, see LICENSE