ouster_description

This package is forked from https://github.com/wilselby/ouster_example, which is itself a fork of https://github.com/ouster-lidar/ouster_example

In order to reduce reliance on third-party components in deployed robots, I've stripped out everything from Wil Selby's fork except the Gazebo plugins and description package. This should allow adding the OS-1 lidar to be added to Clearpath robots, while still using the manufacturer's ROS driver in an unmodified state.

Example use

To add the lidar to a robot, the easiest way is to clone both this repo and https://github.com/ouster-lidar/ouster_example into your workspace and build as normal.

Then create an accessories URDF file and point e.g. JACKAL_URDF_EXTRAS to point to it. For example, this will add the lidar to a Jackal's front mount:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:include filename="$(find ouster_description)/urdf/OS1-64.urdf.xacro" />
  <xacro:OS1-64 parent="front_mount">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:OS1-64>
</robot>