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Ouster LiDAR Setup and Connection

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Andrew Huang edited this page Jul 9, 2020 · 3 revisions

Ouster LiDAR Connection

Below is a brief guide on how you can connect to the Ouster OS1-64 LiDAR. For more information please see the official site here and download its latest software guide in PDF.

The following is assumed:

  • Linux system is used (e.g. Ubuntu 18.04)
  • LiDAR is powered on and plugged in via Ethernet

First, on top of the Ouster OS1 LiDAR, you will find a 12-digit device ID which we will use. For example the device ID can be os1-111222333444.

For the particular one used for this setup, it was configured to have automatic IPv4 setting. However, we would like it to be setup manually.

  • Go into Network settings
  • Select corresponding Wired connection
  • Under IPv4 change the IPv4 Method to Manual
    • Set Address to 192.168.0.111
    • Set Netmask to 255.255.255.0
    • Set Gateway to 192.168.1.10

However if the LiDAR is still not seen, try using Link-local mode also under the Wired connection.

If the option for Link-local is not there, use the following IPv4 configuration,

  • Set Address to 169.254.0.70
  • Set Netmask to 255.255.0.0
  • Set Gateway to 169.254.0.1

Now, we should be able to ping either of the following and receive responses. If something is not working, try rebooting the host computer.

$ ping 192.168.0.111 

PING 192.168.0.111 (192.168.0.111) 56(84) bytes of data.
64 bytes from 192.168.0.111: icmp_seq=1 ttl=64 time=0.039 ms
64 bytes from 192.168.0.111: icmp_seq=2 ttl=64 time=0.048 ms
64 bytes from 192.168.0.111: icmp_seq=3 ttl=64 time=0.040 ms

$ ping os1-991832000783.local

PING os1-991832000783.local (169.254.83.77) 56(84) bytes of data.
64 bytes from os1-991832000783.local (169.254.83.77): icmp_seq=1 ttl=64 time=0.573 ms
64 bytes from os1-991832000783.local (169.254.83.77): icmp_seq=2 ttl=64 time=0.192 ms
64 bytes from os1-991832000783.local (169.254.83.77): icmp_seq=3 ttl=64 time=0.139 ms

Running ROS Demo

If the setup all went well, you can launch the ROS demo by:

roslaunch ouster_ros os1.launch os1_hostname:=os1-991832000783.local os1_udp_dest:=192.168.0.111 lidar_mode:=2048x10 viz:=true

For more information regarding the demo, please see the repository here.

References

  • Connection issue as discussed on github
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