From ec4f86e76a210e8d97b93cecc881709e3bd50ede Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 9 Jul 2025 11:35:43 -0400 Subject: [PATCH 1/2] Add docs for setting up Ouster lidars on Humble --- .../yaml/sensors/img/ouster_os1.png | Bin 0 -> 40095 bytes .../components/yaml/sensors/ouster_os1.mdx | 45 ++++++++++++++++++ .../ros/config/yaml/sensors/lidar3d.mdx | 4 ++ 3 files changed, 49 insertions(+) create mode 100644 docs_versioned_docs/version-ros2humble/components/yaml/sensors/img/ouster_os1.png create mode 100644 docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx diff --git a/docs_versioned_docs/version-ros2humble/components/yaml/sensors/img/ouster_os1.png b/docs_versioned_docs/version-ros2humble/components/yaml/sensors/img/ouster_os1.png new file mode 100644 index 0000000000000000000000000000000000000000..933859597483f3b478e06869f103fb38e0adbf19 GIT binary patch literal 40095 zcmd43WmJ_>)GoRyC8WC%B&0*Sky1cFx?8%tyA?#G8w8|F>2BDBfRyxx%|>aEuDkf| z`R+YujC;?y=lgXTGJw7J`@U<3V25zw_`mbF+e2J2^XAakyK!Sy?%`+c25qZLHc#*>a)h)%`KmyVa4m!FQCSA>U0sV%KmOeFLFH=dq^aDXdk}j zM~SVqI>ZZjA_;FMXzpq+&8evhJUJkYn?P&}!B)7W68p53C10 zRs99`pkJFMjoU|4)4A&F9CUQr0r@!&_QWeW`Tdg|a8HT;P3aO>zR0Fz~`R-e(;T7pPk)24H{} z3PwI&5Io!}`RV`fZ;(FkrxWrmkkhCI8KR~|9P-J(dh?96r^8fJs~-;4iJZu|HCA8B z4Id$_=6ZRw+v0P?YhEh^k($mrzO{lve|=>O zvrZja<32}uH~%>Hb;mntrr*W3zs-rfMA$?xLh?kALd>?GB5K{*5e6iLRvkt}Hqbic z{)IYa+sEOKf`;cq1~{FP#kS2=g9k}g>1STrB-j2o7x=m+N$St*JA*zyPa(`68o?D4H(Uf%@FpL1!& zKE7v{OOToX+}mP?LE$;(tGDX z))GkL?<_r6FXZh+gTPFtoU}59(?+m1h|w9S1H*sgrWp zHKtufrh7v?mQ8TewRXQ)%p*=LJdMtcROdV=nxmj)0#ACiOnQGBUDq#EC}myNI<%%Q zzMF?rL?tLQ#e4W+uU-srZ5-UTJ1ZXGs~al@*k?)JPD}QlciyKeKBM@k%;Y%vzTdn7 zPMOFIX^Ipina(R)GDkD7ZL-f2NK$O6DlE%T{YDTQQ7v(!Pvv9_l@*{lH)vGegy%mp z<3y~v_Zan>!6*gZP;-u|59FSd+VejO=%wAOQCO|**o=rRukYlAjYcr}7z&Rj@5g+( z4yZ|LWXxW@H*T);ikQxL`Pm z<`@D+P7FOkoK2AH$ICV^o1#$mYecW=YgSUN<=jjhaL`-&yG802qX2YsAFF6Y) zp^cL*r94Tx@}mWZN2QvW_gkwsSYnr(7=Lc*Mo{EL=eY0xNZ#rg7^W}kMq25q5uv46 z!7KD;huq`me7RcOmp8r{$7>33vQd7vN@=(jYEFC9nibx7J(#(SK*gx&+|SBet5`C& zMRW-Z1}F=3HfiezDDCh?Ck`X06h#>`l_vo~N9&h|4V~(Xx0_@Wc0uNLjbjbZ(G|8fnrM zZ1LK;IA`lpZS_IEbLs4)YBH8a#dsckaa#>DY`P4~NQ=1~G+DUC3`&-{lVbPz%jgep zfBgypy??x~QyQ^6$I@-rKg+RuuQTfWeAk=apDAmv4l($zZF8cexc}K;ORlfBp!eqY zCKD|!|A5p+YM6fzhr}J5yheFh7_Q`v(2YDHqjZY%hvVggAY4eqseAqUU`KTmyN1jy1R)&z^c4v9ow4ggw6IEam6P-1$nv4aD0#kWzzk+cQ8D;yzt>wX_lG2tcf~L)%>G_3Bf8#F#)Uy1x^3L3`Pai97=7cjzC_^ zZmo)h;(xwL$&85sUXMMFaLO)rS>u9n>bGaN)W@kNUvC{?hqn$9Th{A=f7>GN()T;T zx2+e2l2u#7JlS*F`{RT^$B&nG>iAV$seX-6 zA2htRf^{Rdu96hcq9>ZijEro)rx_TnT%^Ba?_BjJTl z7qcu;`3#w3GFmfBH-U6Pfg)H*)uiAg%AeVoN-w;8eaG3}B<)qw252Ud=VhDwJb~4hiZADN6O9#0#gk z>cXuk-abXcBYV$?Re-t386WX(axlo%I&AmmjqaM}toM6enrn7>@p>sXrap524j#!j zPc~ndOrKdRgiNeQl1eb%?#tRf40p-RWx(U&B7qRyf-K50w7En|Xpy++5J_3Dl~^FK z5btR%J6|<7u}uCPb3ylDpCDm>;A-CI0#cG7Bk0MBe~ovhL+3QP+d$MMS+xbWD2DL+ zEH%CgPIx?)rj&G+2sws@p70k~%D9H}!7wh&e$IFRX zExKo0AOw9^cvN|>_7Qf{FoWJ0!gT;7W3Ip;qDoUDDQ5n%E5P2HkLV`48c`_Wl%${( z*fl%NM2PJDz>amscE9@f{Lh&knt3v^RnzaKj}QV`A@GctfY`s`=fo>039LCg&QDY7 zOt1asvguwIl57aZ*nmL_nJMKFw}}6}I}Pir$@*gF`w8AcK96qv-7gY6_=uCXVddw) zr(ht*QeaR%h$|A&2|?N)b{MH6e)?0EeRHHQqEx<660C~ke>_@a*=UYLcY8WW!Vq)1 zodA%LES{_fuxc8MJ-Be+!1k|^;osY9{L?|dMvMq>6-D&c-$;!(bfBG^Rej923hYQ158~{X)?ti=@^kAKmATVoFxj zoYUUZvLe%}{#KcwPd>a&f$}l9w>;GWwi^=KV{&>g>owRW#*GohK|qe?p%Dh3Eb)cx~|nm!H7JOh;k4Y<{t<~n_1 zLTZl85`%?J%1wQyn9~q3+Zm9-2A+HE7G)smM80Jk7F7I>5vI%a5VZ#|%pLIw9eI9U zLt?Hk$%MKD&S7+Mk$v8urQE$h9N9hCWAFvG*^;2xr2JFlogc3YnHKVdTTp8yGJ_SUw1q-`1);ptiXsI4~ei|BdR*p>3oy}(S!Y>@_S#5wVedaeU_;=Owv+`P%l;7w##Rs zthD{%Hc^voZ?7zNz00>_RNC^c@K#2Ek@*c(c-0Q~6TWlPn#cWhruXm|9dE>-Ua~@K*jYFf-pVLZX*U zSEeX0heDd<@}#C;u*6}iOy}7$y--2RlTs&QiOZmzs5cC=%P58xa6jo4Wd4LDEIIl@ zWtFGSai*)TqRv1zndLKGo6CgSPxRPTcgt6z6UDYIB1{w-GTd4ZOjyikiZPB}V zo8!}lr)KK;Wr0t)Oqk4zZKbttIdHsPV_D)VaA3mg=g(tK33QnW^|hbt7gMm37AgX&vyepElz|7u7kH|H#n>6*P0Q+i_bwp8nyk5t3h zNgy+{%6jk0l9#;Iup`jZ6Rp_R+|d!OrOLw5k+}31>m5LLCP%P%uGa@>>NF3oo{+eH zfV) zgM`iQGfO-zJ7mViHkWSpqDhJuf1NU-j8b%?<}eZ8%EENn_eF9DISbm7-Ooe^_0iol z%F2+Tm<=%B!QNm!#+u%z#*!7iYS}o_x&%oqujJV$tk3Ui3|CXEqEehQqU<{@sOvg; z)!oPWQ6i_fN3#xxMFY*7Vf@&==HYJl;Nye+VV0|@c zx=G1bY`UO0yI^FSYsMjc>l>(&db-V_AvV#Bn_%^KxnxK0&yTbV3a@q_alZ5~)t|c~ zwU?OU7*|u?l*lCTxSLlXMC2a5E#<$S|M5fXy45{iBv~J-*JlgjpA&YP z^SkkX$rf}ovc$?x-Bqx#!j75-r?ec8;IGgvwK)mLngUf^MH`Ft$P2iyskwH2oG!1> zG%8wIyv%wk%DQ_hSZYL>dFM~VCa~k}tWrmrtCGJ5Rkp#X8YIgu9?4bta~N>3+bY-W zq{V0GN|4s()p0;a(U?ZgsS$LPZj18!L=(-xN(5Yo- zDv;JV=s}&0n6nyNt$!YPH;(GAaP3}Zkn)G%Rqb6t(Qa0GYeRiP*hbFQsw&mz)0Q+} zy(Objs2Q^TJlu6BrS&@pR`Z@=jOS_~-FhV_05o`U z8IGX?=B}x7ph$O1Dg66;LNcDye80ykX_hDPTXUu1{$G+x!y_Ngk(KX3ZM|#aE5Zt# zX$9N}LS5$)X)g}1tN_Eg+O^)oj*|~N+Fnb7x!j1=1MvY4iS?9Phb1i{f%MkdS_hR} zbU!GLez=IuZpy)DgTA10&F`#M7NetYy>fd^3ZUt|4Ds!Q@$@5u*4ZMu&3~j4h{xFH zD-QK0mX#VkIa01t->*)WPL-hfD_DU7t=Zif46(|Ev!GXxH%=Z~1uz zlkAX5>{C*ulD#88sk=p7M0OI?FfU3jj|M8wZ{)6WPz#X07~&;aZsV0j!fL4!lzP=i z$;cjLeLr8RL8|_-&oACd?}&Z6zBgvU}e+>C6h?{{%Zrtl}$C&$euN6lbRS$Y$x)YV%y zV>b5Ec;&Rq9(u!H;Su6KPegQoTA6dob3#Wxd0JXpjP17E)mkp3)d;>yXnol=Sihj# zJdd$X!iy_o5vo&6E&GlvYWX<`9c;yboe(fs@`H}+=_Mg9cYeNgxp9J7w;lwlh;Ws* zLP&N9lQji4t~QJUM(og_a;lpcXPL?HjTb2eBXd``mWteLqsEMcGnbQb5VMUY6G~~w znQK7(z50_Ag2f45vjg2SkFSvz+xB-a7hJvT8HXb?FQ%&cgrhC4zH$j0-bDDI)ca&x zIr*x8%yxWZ)V|m^QSj4k9ez)0&HBj#=`mLI{&mi?wjHdZ)Cv^i;9F0z^QC&l5{+g} zR|gR!+WYkl@f7&KkJ)s%y)#3HwG7_jrWhZhJMm8h-yTP?HSyF($fH$lSREcb&18DU zHt2ubbJkoEiJDE>(4OYbrt)Pc3e7V1ey688TT+c}cS+_v@}6lag)TRfTKjRQ8Z;N< zzJ4Ppq0iBHop@(2kOXN^e6Oi2{qWdL(Z`;)E?_5S^=53f&-woBK2nzcc~hQ+7b*`e z?xVE$l!M1>aok=5{@EVMqXiK=d~6Cy9gsg$iy8hBoT)oDJst_P`l`32>({w4*w?RO_j zDUS0Jf_2TUH|;jb$D3R*9^SboAxXW8YLjQnJ-Z}Yjob0s?2=L55lGC#j~5Z63SMq6 zD9?UiGi2`g)Js)b48G~EW2X}L!wkN54n{J${yp*ffKc5C1jYMkT!ka&`@M5+9-g?A z6m7%KAPk5LV*FGLxuR)6{1!=vCp9E)qcI`=H?Rh=vP*VC_wxwNM;W!Y6rIO@168T#$o0W$ z&)>3GAF%|mi@r~k>`4szN802D7t_|!L3Is>%B<8`u>ls4M_70Zv*}o#{N%_IQ6DU( zL&Z1lo#j0`gU{BFLjv7%4OF$Jz2AA^VK&S^e^*m$*1@GK+pe16pL<^mn~P@+DI%Ep zz}4C@3d15b3AuOPd~jF9E*7C~0~ZUS_Muu7Utf=?qja~)3Xh?L;6f(#`&0ypUvLO1 z=>!=0uA>g)Fn4FzUN-fP^fJ-&Ay zUmis+14!rDXYB2r#VC`Tev{gM?};2^ht(CN0B?eu6w@(n3xUkt- zfq(!0S=iblCDKlG*ZG7zvJW}i6AjZS$?2^!QZ?O~#Q~rJ#E4!_)X&VKaIM2d*EI!eQ@`=6_>IOvxC%DC+)DWPrk5)WNj2{H+kxZEth z6%~9!{o%uyjq^d@@84xRP1&NNuYBzBKqbC)arD%%nKw?;jw3a2q*k-F#Sbr$nOj`k zOi(7HIJ7!r)A6I%{!(V9q!Otn&caTl6a<;G`9tuXX_Vs;YJ> zZ6cYjb|CHko?#Hr)inW2I;&8j@#*JR7H*$7GUx=1mzUcC<@))vMZ=m7a zn5D%JcyVhhE+p4rw`07kE05!wh6W*6UM_p*n4~7gNv({Hj*AJ)t><9al8u;OGN1y_ z>N9$_NFS>@e@(j<;*ZrBUv7^BnmXeug|YD5i9A;taNe0-5fNsmK&A?6BQb?j}2 zJ&2z(S_a5xkAn}ZcaN5fi{CxL+5cD6veZyX8jX9PUqV4}nO7>G8KP0*Rajn*T~>BQ z(Ha^m{qG$2cP_1D&LE}p4L`*DCA4qi)*VCj6W&;|4tg|hZl4lYAO`s9;%IH*a$MUE z;PG6YeHP}M>PnH@+i)RQm@SpC8-f4XZe!!go7nUIEjxSR2^8q$^7M4#XXe~mQR&Ef z9w!#kB~7~-=DH;`jyFe_&AHb_p2Wu9C7*6@_g3##UC;Mb{L`!uB-?JI^uK z&-Pj!y$cIie0C~nVL#?NoDZxmn)atafaSi0uy#y!{CRWI(ShXQ@oVHemG{of{dmk8VqV}wz9k_ z;F4i?rJcIE{p`2MT-pP*>d5<0Uu}%0^Ii0ic7#MlF?o1DEQSeV`I;gttgWqg4m*Fq zr57_Mw-m;{@N%J`oA2cn0V(CS8EEkhw)!zGKXFa0=S4}U7hNQR#AsWt-oQ<#?Z5h0 zj3kOG5Wmd{`k9`i)w$HdsE|n0l7ca6IR&afT$%uwTe8N;&<8Z&(anBR6IrIu-3ZBh-z@QKoZ=GZpFe-v za9xwe_nYcTiH*}Is!aFUSKkV!q^8!?a6i_X`MI!QVW4MZ)J|Mkt^83->j#1^esWCg z;`Mu`oSdAl<<`cZ(|jLy@M?CA+@z~;q1E~MJjb<*jRz?SzO$6H0WKtniB8g{+)7N# zr%5*GVodMT(}xX(qr@k?y}Vc(=cSp>eSaJO##IALJk~+L-n∋#CJPJ{FOs#{Imr zr=z1v20s>LJWE(Zvpx1Sw9lLHqz8*@?R3sWK_t6pia;qRNttQ#=TA$6L=KKhH7)G1 zF%BW`eP;-rptaDu32YKRlcVN#FoEW*DP{iF)@!%tY|A^_XXm)hf4|zYUR^!HkMt4C zfxhiS)ltuCt`Z~o;*J={ej(ThYepDXJWn+jUSEx$IDLO5Zc$4%JF6`-H?%zT1b20? z*`E2g{`)#r0S;I~t4#04VT*kcRN~^d!222+8_kb2!plSkkDqAn z6Qy(&DbWIn0PfMh>D*!df?_suRAw6$(@Cx8qRxTpV7m)FL9EvEy|48hShsdfy`7pu zj*32LF3y%SGdCxK$QaE^ll-vFAfu&C&U%`Q5ar>)?Bxzj|C!Z~Pvn1-p}>1GYHgNY zK5Ezf$Arzd^{BwPgGlE2&OR#GcEob6<-{FB%EE(x?#pE5<3OS~UynMV;?HyI$A7e_v&{vlF^^ci;c> zKVr9oog;5%tA?>We%2wYbtLc(tgg_(m3II7?Hv#A6W49iqd$LKnZKxM&CDUWG_-pE zJ3CucqVPLMvwDMR;M0w-e-A@4i|0QKJdVT*<8yGmkU^^B4Ic>3-rGIc+)OjlQFmEJ zTtG8(Xd2HWO`^M(J5kkffgr|n_@BpJ)bGsVI=m{w=U19QD3gKs4_(d7|3p`lnMP_7 z;M!gev^llU{|7mZ`s23KS%V!Tv;xTgyX>ZQI6uZ3G%)`D7bHARZZ>83K*e+VKRovT zQ3kZCGM>(7J==;2R6m(G|68gcFpbNt%>OnGLE$fp=|Dhq^8Dl5(s+HvVgJ1Ysff2p48uVc4wXOpgwj4P<{CPoiq!M7V1 z#Id~m|E!%th8zNR7(5J&UI6>QAi_clDW(8@7)`?esmp$00D^JLPbV}6{r?tzAw&K< z6NLWvCiq_p!@&L8PiOzH`^jb>{w=SD6{Q*%SW;3#{+m^PJ^D|p5dQi;CjhMCb227) zG^NB<>CF#p#qdvgPN4R*3R2q`2zOla4?7m~jCiCdSrPEtZ!=?zy>v~#K8yix2`Tc5dPcWoV4ub}B8=F*) zma;N)Pfv2l&tJdla8tboLm$Q86S6I z=i;KLQSIWMt!Zg_J98i<3z}J(PT%Nl3P8 zn=Z&8u{_dW!dYaXwoXoR&d!p`)3WqQpgb)O^~ew(EGuhHpr-i!;riSe1p+$~8qe(v zY4xTxpU9z3z7mlQ1%8xS@!JUmvLRrLLn=x@ivw#!ndMbGQ@*nY}w)GSYh zn7r>lN0n|`r(c|%-S?xFx3{O%*VhN=_p!dgqT5Cj36Wg)@87HtDJ}kQWsjy`TMn}fpI!h!*!8-2+v>HDCw0PePII~i91riv_J0k|cDB)qI_dv{k}EGMLl6_oT{ zYin;>qs4iTAs|w`yhPOABYmVJ%p`Fg4|qzC1p$RHuwkoLEzd%K|KLMSHCstt!_Ie3 z^&E0DjJ|OsG-dnJuk!XfaUMn)-yeUeFN+2OC!(UVQc67ys`t=$3tL%10ssRU@`B^t z`By-hth7IdKw7;IdSS4zz@==_IV1Q8D*0hNFNENodGFJD(@O-4hlhu>mKH$z`SqVM zoD>vDAyRYoU?>|K3?23Z8yLzeA70L>K-gnOUSywV6nAq!5!GT3_5w9_jpHJoygZGm z>k-ex+K9$A=}VwqeBFd4+x%dTfWvNL$ZkFycc;N|(S7lSO-2;3JJ?!#>)89u_j46> zbOc*k{gEKiIMmU_rD^HuJs`+D#N!7O5!}MU`y$MWUywQ@m0`-7l<6Ny7^C{KS!z>viTTf)FafvPFxH+VNfI6Ni#QglD_ulVlVDkpHjMJY#vM&6VwZ>&Yh1FG;CMPD; zM5v^M^>B6W{f&-k2Gau!T&s+Yom}!Ea*Qd?tV+fJq}9dm z2mA~o5Gf|Uh-LeLHmtZGJaTKRn1`2F{g*e>2rhvAfYrf&;6WT6dqHe^9jxGn81%5u z2s%r(X>&!#a@wN;tD5OC@ut6D_NS!{j`%+dW%ES=<}M%?0{jEF#NALshk`=1nO=&x z1Y-~75O?TSgx=V*dCJdp_+yRLM2{XdEFLsEQpx~2-l zXP-a(JZ0C`PI<;SqJtCP4+FhAFS?o0QBBiq0CXP~Gk~58GJ725`S}=Se^ux1H$P9T z7bcFIIXOK7z?O_UyQjfXykjHguMDg;w#nm<04M=_^Is0~0CM2R4`M1I7gSJXHrJZ? z(5$S%A8BdHDJU>gP*5bju3WGfgw%Zh4lx}fabIz9Rq{7AMMpt-8PjiGwR42iwY|-) zJl)sV$D*kfX+}my9T)@Dbw6^1dGohWF$C5~-qGo1wGYBYgZS_p6r%xGVyb1#X0?_<6;9~*d`X{ZVr3P=NtCw^XKSU z9~^1s<~APGq__6V0!;P^#IR@B$h1~h*$#ATf0UHqQd2Kixw18wbi-iCp!)ndJ$*oE zobb^1CCn&Z7}O;Z4L;uwgoFfM4Wu!IZi2uAO!=!GO%416o<$^zV}1AXG`>rKiowsFv2RmYr5RC{wJuxo_;O$e5I; z4;|-TU@th3glzO!WlIs_(ysI`Exq5Ni4$3#oyF0b0pt}L)XhKEvd?^!(IKNEJUvm| zAIH?mNx!AKv~Q&Y(F$XZporAeFqyYMzo$Ga7WDjtKPW1V!RtBqq)ihFS7vdL$qQ0t@yT zLHz_6Cy1$nMRa}{1&vsfMQ{T<6i0S_yCtEv*6h08EG>zmFMxW%iMA^bombj8JUdOegePgBG|mJZW`+v8sgw^Mvz5i>0@Q-Lv`5`e8g~ix!p(@ zxw=KQ6hf_Ig4WQTD*x=hfI2bVyEO2{ZiHb|oFIeNk{Lh_W zLrKhg6T4i{PlYV3`uYv13FpXCU=4~2M=zRt(SIu`VV+!A`0Q>4jhw@`9uxsd;3aSR zC|gIQc}5h+Y!%&e`omOa@LEQ}94?PJy-(4VOby?@s>xT=k z54vN`ie{_G^QOy+(ExEwUAf^|U=JF;)cBQW1)^MstEo>2^yW!+f1jf6FMswNxUtdi zD4xGm_W;y4AY!Md?}n@dM7w=CUbk_O0B95u^Qev<@Azkzn zteF=@=yP8JSv1I@!b(3?nLf*lw5RL{!Pz(rxi7x+R9D4NS9pj-rl&s#K3#%d}@(W zJU>$C$)|(H>E-3l1B0~df3@`Kti%C^LS1S(MW3D~Y_M0$8f4KI zfXEE``AWU_shU?joEX-FNh5))X!dc@ELQ}QX`-$@{w|6@g%Kcg08>(TqQ2Q9@e^r$RWpfE2=MzhX~P> zuT2($0wYqd^Y(TUtqD(cIEjJTaZbFNFn%Ou^yLVsdxEhbhux2@_k{4w1L=+`-S?Ns z-Bs3T$>tO8?i|Bh+@RWHXoP6-T&g$YN0?k(N?KaV%I~kj6nktOm(yUPqM{!b7Hks_ zNf1t3B}Daie~*s|rfl_G)YoIQ8reJ3cqX}IYgZ|e32376w!Il?5^IS@QudB11;K6SG;4@dLrn$>6>tx? zCsCH#{!FkcXabp^2x8xegvjIeN)F`i=@Ln}=s>n*Z+iH!Nk(zA;rPnHCj)<&_26H) z#!E{sFPeClm8PW@&wj?XNZnVvH1+4Dzw|jp)9S0$+R9;H!U`aTg}8whv60&GW2un` z{d$H0@4-5$w+?>4GslINvLQdH8=E~SN7k3i-m6`sqvqXn&qh#UovHZ*2dCuUyh%WU%xMvI8)cH#(%wd%LD5g9$`?^VQNfogI1_FC%0I@gy8bf(>P2vZk3lA zuj1leSd+tSGkpG*s+s{baIyKBa_ZAO5!+FH0H=$MBT-&y>2sO(<)wCiwgaBa@4=u{ zeW8}Lu}sQng9~|+X`l5NtduI^y_Y zLWt0yNbV(-nVh=#honxcw_2XPkMv!A!iUkC=4-o~n-`F$)mjj`qI252&((^?Q-coI z2(JTqw3`%J8EF&2ArwJs=AnN7yPNA!c(m4p!MTrEs4P9ciw7KRVNm|kpMf;>@OuX;>ub*J*u>z5lcgYEFK4LrK`U5I6vmmUkQOC zOT19&O`tX-JSNt`&9)waIaxPmPQJn(itx5*&AhzGFJL+2{m`#gR&yj$)5(5O_R;1~ z&GF_C`}mF32y&05w6D8+J^mKQ$qtG4K}KfbSSNfF`j(iu!zcW`%+{r!@A0s;VQy+l z4@&9T?gD^0XB)c<4=9h^-5r`gNC*e2TtZN?L|NxtJ_&J2Ei&6a`%W5^#n5I}nQs$W z%ONg)cf`io<8UP(c>9luX~1oDnf2mFOUv%-6qAa)80{J%FGKe8{b8fZ{#mYU z{ylaHBMs(syOg~wttRkj9_(o6H#ef{>9MhLX^-PJcEBr|?PMKz0vez@^ zH#bj-N#DARc+;-_`UMj%_Bs(pgd4E+zfo`73_IXzI(LHOuj#^|J0NYMjXTp?`ptRzHZChy-)>!u99E&Qe{xn9 zdjFYuxyqWxhg3VTo_>slziFojx_#&L0J`=$wjaEci{?hlh91+mJu6NQyX}}u;BA0{B{bzM4wV9QGg>}59Y&J&&{vrF!V!l9 zl)+kOEqIq;0lbWg4ks*zPD$6D-{k^L#9h(m5&~uX1!JRqbG!I_;OwtohADJ~`dxZ& zRDaAp=G<)M;Np5+d<@zLk};slmD6+7smf~H`CLsg`S(v13S}b6^4uM7pP$ZgNr7!` zok4^88dSjVxhDq#G(b7FFF+>|c6Tec(FcnhDLiy{9G4r;ZlVhdVQZSB@k5eop0zZse24M#c#O!QKZz>J@b3Gjo=P zpA4uLob{CI0;#`l@2;2JJvE*S$d4{wpPh||RqwpNY^k)U-WGWAg2>RTl3q!N>_L)ww87h2*4>)F*JOGJ9;@A+_(hC3ls9r8p{OlDT_#bg>q>b77diC+tSQn|TQ)Kk4FM5PyeZ9QY^Isj$HhaatOAt}Fl=8iRB?+FWNN;SKt`xR=JJ~u*k z^5p@7%u7?8mcm`NwMm~)DhocouJonPolAw4G$d~&q+qzHss_KZiVM|IZ-+0P-fT~z zf`U+I>NNJ@)CBp`F*POSxYc*Jjl?%+lG%~U-fQ-#{!mNpn$^ACM9xZDB+h3(gKSep z&t~yfuQh^6-rXjA`0yq0HEwxg@Z!>v^5)4cb=dKp?(ywvjt}gkvw?6FCQ!W`(`bzN zob>cqxr~&kP#s2KGG>RgPt$D#YR?F4G7y*qeFy;hXM(|F-knj0~ghdVf z^(^h9ds?|4L9`MceS&2}S{o*IWXYX6>cN@toGT(L>Qx!hh7_xX*=n*0{DBaUgPJN4vXYsz=U0#y6cl! zeAC9rW*R3G*S(e3>%>XJ!#v-=Uwm#xU9Zgb=^Rn_hSq(RX|zubUh!|Xv9*2V#4u^LYC zlxxNIwHd;PkLhSay_$I7-@j+z3;{T{jYBOGTBxA<6c8Qinn3IZ^wI0Te_*9$WPmQ= zGjQS?G*w~0N)Z9Vu1ZhYlW7O-k22obZloVyPl#wQv3B|#p*)C*gxO5 z4#s>t4l}=)@`jyquw6CT*M8Y()O`YoKAIyHy3DbttfXAPRQ@}|F?Dl$@=*RdI|qN8 zankE5)tEpSeFj6 zX|eG-v7}U&Wr&+-On+ZGj>Jr$_QwPVrd1^_*#WD94zk;=$hH6F@!*5j4OHpTq{bJ9 zlXIjxJ|ly0C~fr0&YHhQ*29TF@V^~gZpwFCk*dXaiO0t$VvT!dNz%7Atpa&O(%cO3 zbZAPZPn*Zl4|c4<1o24P`-{g(6G=cTp!o=-9dj!yw8Fwf8PeUYp%(>3Mf_jYPq3;x zm6^IeeE86@_r8as6dWqh3rpzML3+(Z31oJ0pt1(&IVFW-=pCOIN&%>)@%kx$Sq$cc zm9dhMk@ff=v`1o*t_*@+wbOFT+qw(nEt8@R5-4ry#om;>9gyCbz@0w3}QOh_tWG`?`i1x#KmL1SA3~Kr`yKKsef8En1cC@ z*oWC!j?f+~$k0cYlW4| zo4zZsPbySYu!DwytYb)@X=*4E&omAtU;I>+52bJVj6E5sw+FCsB>7cle+& zq#F3w9W?C7|9E@@TpVa3fliC`?^1A@C1!8~w3z@W{y;eZA%%elIGx-+=dv-t2zug) z^fQ2TL<`x*MyKVYq)lb6nh17&?Ywyczif96A1krKV0^~^(Scnj?k5bjiC3?xk3X7W zra*bd#>R%lH>mo3M@Oh)(l}%{M6}@e<6`qTXuwE)&!a-51yr$IKVfXjH*->*nKQ7q zurw=*YBY3iJDPhKOFEy)zdZvZqi&E(fS3f##71Uj&@@@H;5c)TJk+TIyyfInp!#R;)4d1Lpg6i zmGgRK%RDJ;1>LxDeceAlRwqn*?|FYqyj|#OXE5d7-UQmdx2)Oiz_aV?=)*N>_||)W zXZK%S)hrLhQ_#Oc+BMK*eQuEcA7@kXm6YOvj3~+s^^tuH)~f$pE{BsAweLGd@(R~P z8Wmso$RLnwonkn%CimRjJOTVZ4^RmM4nbKpu@IavAtWrUvS@Us?e6Nr+h1<|VAOi{ z`-H!l1&HXT8oc`VZf?gibq;&5F8fJcmL`CFraKfx0VSbM%*ki)*4S?f`~HH_xhvjr zh;7I1ohL`?&=+2u-MwcO6&0pC+6!5GBXPk72CeOF%q3JBxi2`j*mR=UyOO>=+4QPn zNT3!4g?O^Nc=UQunpHU&+`w8(;D@66jRtYw;~Y}*BI)4sWkFCN({gp*Sk0aF_oG!* zaavee2?Lnc+toz}gpeOB>ySjfc0-G8LHNrX7(9OHIDY>gvcFFQG@0uw?FLoH?9d*- z!?;`=zM4CSRfD-_iJlWKwIoZrC*OB8k&`#m`i6$wY@|i<50#a*)am#(2W5LoSW-ir zjYgght&oNO`7=C(&}P7o9o-w9=1(C!&^c_)hOgF=Nt5s`;P2q-b$CWt=_P4%BhBmA z#Ubzh{-LVaabp54pa%&U!4T(mY?-*fF=*WlUQuqlgM^Y3ZpvzgU#$(Nq;X zs^z;l6nlTqXyTXv7Y~@;pFWZG1AOPcAS6iKu>ls!!o>ySOjB6rK@dHI@Q9j)$DCuJc#)Kw#Vh)QDlD!ei z39bhV55d0$%|%3he$HHt1>WIO%LkTRQxu0xW@G;oV!gD7+S*eFldkBT{iltrgU-`%aBTR~<}CR(1s+sq-nFD z&^FHpK;ahqMLzGodM{{#`6CB}0YIkC`6(-Fd$f~E(^d=+r znr2Zm4-MFM(k$5$tJYS)#cd9F3&5vP;)UOzpOhK%P%RM48b>(Qy zq=znQIuCOfG~5R4VS`6yNHvJ7XZ#c-W-PZJSM_4d#@CksSa}l_%=c#FMR#A~*f2AA zCFhADgadcIIzyZT_Kr3#gOFbP3R^tj!2V#Q_ITD%q6a9EU5?jW{mj6Wcio%S)+0Gy za^s$t^0_{Z0K0EJX^WR3oMTZ_SGS7uBj|AwCo4tpHx7v_jGcpV=97ZA_43lZMBDcS zG4O9-+!b7heY9cN10PVw$^7o9rnjZliH7{Ihp~bRJ5_&TI`*=f?8aaMgkfCB+r?z- zTnGa_9F!D36*vCqe$LdQr>O?g&l=L)I!aqC(QZj{6$G+sDA98dU448W1s!7`v0#Wc zBnvo=P0r57R|VY$^{rlutfrXgy9yp-;L%8Xd2x^D22f+*Qgz?m%0t!XC2oIHg7X35 zf*R#W6zs5VODo}K@2hA>DooVbxAPrzqWln?V16BXmaqQ)ttf(( ziQ&5K_EOjPnY?&eQpKMXWFq|Bg}o$+{<)wa;fcc0(#h~l2@oLx|Ffkfc}&b1F>J-R zXp*rMBg#1ku)Jw$Bxf{(lz$u=kIxlvH#<&U2R;*}kN;$lkKH)AhbF>-*cDh_Xg>pK z6a{6L%gvSM)ofEBDko=m%mhYvG1~3lV&|REM#^@xtc;9-gGKo9=!?7uv?J8yK5Mms zD$~RIg$_tC#SYjMM`aCHE+okkqG3N@G0e- z1a?$l%DBho?~ffo@6_mE+dIM?q~98?u61wvn4f0@N;7IzQP+<%^ziT1rj=~>V_alw z=KeRI{gcw;cJl`kMQic=uIJATeX9Yz&cw*OcM7z?F*K^|yFEZRXX@+QO+Qq?MH3xh8)NoBM z_zr2xwcUT_=I0OI1=JEJ#X|Kv8trppY91f?b^#AJI19LKlV6D8A4Mqmyko&=>yp)# zuy$||(uFCZEus0z&zX275lp|m6wDg?pQ`HAlFUB!U8Iez#o(Qz`sS<1KOh~%no7KV zweFMTF;N<@QT!JNz-G(ywo)$W%Ld=)SHd}swEok4?+Pf;L_WrG8vy;4y*;~)jcLq^ zARpiQXa;v^ApG0@Y7iQz5}WN%8=#9HeN5SQ@aq>KPspgL8#NIR3SyROysyP_K9RW@ zMa10>@BsQOHPsT~O%l4}*&QKELK*>`)9YB0G+prspcQYAd0U&$h~4B;^AVdU0UK=c zt+|{%hED>7lU_5nzzZ}awHwBL$L&`f?iVA7af*pi|M7!u(qnm?tlu@EIE-cPIR3J- zq5|Rq4c)+!Z&y#{hh~!Wo}SWk8Q(y_$p%>5!M-eag*#nvzxRmAgR6O%Jxr^92< zZv5O~MXe7j zIJ{evOKWkv{``3c3~>Pe0~&XbJfOVXTI;&16x$R%vwa>(Kt{6NWKfO?$C8{r#>&qX z!KNhtUqz2;|4U9vo~BEF;djwA$<99486XHDS?VTDOOJ|npz~3Q0hWO8`W-kz9?!hZ z&dr5f)>wfKr@|2KkiX5XJyRWkZ~_{>s3>)WU!+H;@40BDu~)bme84|*pHr$$Ok zulhttV(4fRLa=3A)hE<><9wRRdi<=jI4E*&t9mLx@18PY6` zhm{m4zj0ejmvIO018l~H+-)R4E0#F)_Ef;zf4>SU79?wi*IbT&8B^`I`sv5$Ngj$I&(NPRJw0OY%^Pay}efLUd$a@%GpQ?E}+a}8BQNN z+CG*unKr*~d;2#O7?V2fQbSc{f7XY) zZ@JJjlH~FomOiS@O8AkL#4z7?<0feCHaY6gpFhz?UII)UhXy}CQz(x--1fpHQG=Zu z1zvjH?eHiCIs`}F1EIC8!vn@&_})0+m}+j&k4rS}8ug~D@}qo89juU?s&%uNw!i>o!n7shsUQRZvw;uvqQv1(fqOYvsXy3&x(0dZJ|iZ>1a2)Za+9FWY~j z^NY53{Qfp!GRMrE^CrK^>*?D{&XBmO-ymY5QVy<|Pj=vI+(d5TARayP`tgRkHcnOh z>8cs%8?>~OciwPOVHZFEl+wlX`1PB3P^(!4Su)~QYrh*Xkos?RdKq_Ha$Ao!wan|! zD`@jC=8WMN|M))8W_kHVt!F8{-RV8_ZO8fMSw_F_^&VpkPNdG!+It?F6lPKnuN-=# z(tR|Kf@g|>-5ft-Uj0P5ZxEjK7dXtje>pDJp+dxLydz8${H#<7?aj6O${KC&pb1UZ zb~whs@LG!#yralNEKQi2ntpRg8w737et4#SXZQiHz+IMBU?*LX9;FpeO+FgBq)nO zt9b&>UVSm#ohU%$CF;-pHP+_dx3)L(C1r4s_CfXJ)KqGnx5qDGQj=v%AJ>>UeB0i} zk0CpMxVX824Y94$0;D&R+8_orpEYQ(CEA>fCtsaMf&S~(3)CtATk$+5 zJn|Mg{TN10gEQ)j^ZIY{$(%WErQ_iw2sZ_PUBA|0qHlP+7s zOf%))_&?|huCxZv>^Q}*LinGWG2682H8W7h;V;sYJiNNzHK|P?gpXNnmc~bd77?^i zh?}R_#h+v-!=lYTB1B+@OSMN?UVdy>N0b#T>`Bhl#-4k@c~ep%n5~tYJz>htF6&A5 z2rn2yY_+D~Nz74;nqL#46EKi|1h70=cpW;Ma>054=Ji#%)5Ie#zL>;M21#u>KC{IR z0wLZ@*FG;lK+}pJ&&1as0v9q+(}48^^eeFLWL5D9(1b3O5fX=pjF60wF2S2{iflKg zzC`5KCo=o`{sWrp_n_CicnL()p0z=;>Q52|!5I(qCXwCU)Rjj`cz~~WzD*19Kj6fB zY7r$tmPx`+*RAA(zxkkj5p|q(u>qUkN>D>hQ=E?bZ(Ae^XJ`5&{;trgt)b1URFi93 ztkyRj0B?-=I*nDU53^6qf8|gP`cKhWJ+m{`<$`e%T~J7?Ii_=^?Z|w)$e0(ul|HN0 zw+hP@z2-CaJD316Tt`~3yBj}mK=q%^GSOO3bmC6)0nH`e`@#=IVd*W|2|%9kU7Q6p z0oK-d{}4?;Gz|uTA$bTyCEYV4At54@KN$^vMZ1d%t^QxtE;-b{EWj=>^xecXF$*=UDO{QuNtXah-+Wt&qM`vKnlgYI0Q2@{cSxIT zIxTwBHyC31Xx%I5(qwIjMO9}@nDQaPYHOdA0OiUEvA&_9M+@?FGk0;1@1hIzt_uqb z2mKVmM&-;9t5hK02FZY5HOhYdChv+ORNVw%_3>d_P)L>kHt7jz&`B{wtrl`7%Lr80 zK*h-Qrz&|b7$_9J@ z-%A61x69EA52U~GRjFaLL;Ck31!Lg7K*vLT1V%zY72BuIi=h1y9@! z1QwUF+VRS=vOJSM8F-E}+E{3J7PX)K5x2P z&6VFtpFr;K$7o*ZNtT1W6V4&zTf}Vk-Q$0he$tT&3v`WqUV7vtnbQ@lR9`wVd?5iB zuK6|WC3xd^bZ`Ldxs)&)=SCUzcaE(O_m7U&SCNRIu$h@tIidL2*u~v}xj9BO$-b?v z`W(~m5?&4t1R(FL_{tQRE+E=@QKpvXQf#!XM8a3XF|ke|M!djaYL%6O@&nAZs~RV zj(UReW`#ojMFyaS$f&3Wj*rP0+1@fS^IkR>es75wO z|M#Y6yA$SSX7ko&FBNrPv#K0F5C%h4W9=2`}I6dcuu7XR%1AFS;6`BCK_?5|Mq4KIvv_ddJLmE*s$ z!Fz_JP9Ay#3=5xOL739g444tUo<|itI=hHlyWEsBy?&bUS6w^Jejc?}#G)gJdYV2$m!%>-ttEQ;ols5tp>9=Y^va5O zc?IWUPN^1uL~5$6=-riO?!+U473Uztp7+1s*3ZQP(2*Cbci7*a*;j%w{4f!4s4E7D zElSF=+041HP^Qot3Nu*PVJhs~|3 zuCoN4ez~fXKujnUUVtERIeC_o5!lVWw)((_Q*~e?guc?aBXlI)1oR+R-{r-PPW_JC zSXBrwzR4gr!#b0FH%NKai4J7yOcT$nyL8j=Cs?gF*ZiFiCsMzvt+hTI!>UTrQTS!9 zBL2rB2O}rzwS)e0M>0bf^m`IfaH(CSob)6gaT25cY}G!yCf`0!8vLv$y!iV&v>H8> zp|8;&9?Vd9zAN4*`E&rfjx4a4wMBu!1_EJc_d1@lIO=u28916hlygpJDlX|WbT%5_ z^VYhdC!rd2^BUR6$ZU1;&J;}XbKO5Y>>nQ&n{Xv!iU6O-f8QbqBtZk4#-kT6tcU-# zuih>riD7@0gYZ^wc4#+YH|bT9aDI@DICwHYaYqmQ;-XbX#<_rhZl@mMeM~6vZz={D zENBsP6KfW92YK)4hE5Hb`@ebVkd`iruwQ*HKX7M*rY zY+3gC+Zdj+u9`Il4c-QeovJErW8>i*Dh0&qArC%wDrbAp%^)lR?2MS5Cvg&e zg~}3rt2bG&(Bj;Gia^t_l}dbYxYE0{q>^BNFq{elSs>jlZg?A;w8(khPSmOB5Mr+L z4K8aPBvd4EM71`U`rVok13?FM^UbVf=iW=C_jWzQxz{=tLCe#Ls4N#DjkQk)*hnSt z5Nkj$ivkf@DYd1rvKrT;!JZeMXiu|ZBzV|0j7iKCaebWyd_qj3=RaS37~BL2hFW&; ze_0>*RV)DB!9mi*&cLWx%l_cXqP23d(&l2qRXMB3HgB-~OEw4l$FEOn=UX<;gN=YONfR$*@flut?(0&$SUUTUu^Y`$x1=&l+OD zpS8lN+oKEn7qotJjp2H-K`7+$hf4gsWTK$Tndi6xeBt#5xG_3pvDEwa9M)5)%)Q=; zpy{eY{yRz$%|%?E$2hml*YJ4H$W zU;1EE{<+2;8ke^A@!h3Fj2dgGX7OPNhy2qK{7@-6`-=uN$&aGD1=C!qmOBwrX8xCL zs~q;VX{<^L#dzJ;{)RAOh`6qP^*a$65!F{oQfoP@dKx5IL!2Y{B7_TkIKYVqjc-WY zrVK2$_Vv+*9H2!x$837Cq!U2ngE;imYU52<;q28eFMA_2b!ZHZNCK`c5uJWrhG1he# zw01EER-#&giX_M9yA`E<{M%o>`9Ux+rviWQ9y4&|)zwi#NPDHYB-3*IHwPB4PH2&A z3Q3`%kkuA-niUR>tewe7!mobSfGW0Kz{#y(AwI1u<5;-bx~1k zVO7f^oo2c9t|e){$hp&p98X-&cwlR1M;M$raiDD%!a6!6|J9g+DKena35H$314&4^ zv}W((jlO348VHu7|A;DU_4-#%R8}B8PekD9Je0oH;$oM%<9blr@N&;G*l;;G{>OGH z*_h2c_20331{!va?>bz(+J~*`0QjL$==q=;2fXdTw64BX^>;39h&9p?+dnn5bS$~1`5^!U$LA; zrP*JK$I^rSF{*P_n^C0OP*G~^Wy&nvu%1ai{>cOXvmKG<0E94ORK@wc^_jiPZFyA{ z05Xh02^Ii5%rQIcbT4;zBKxJu>5Cf|S3c^-v1GEdAA3`_PN1>1w&n3sQZydkzmmd(Y$^7pJmt^6U3+&5w*j zmDR_ZqaD!rz4?HEcK>US35&ZSr3!KNsJTJy23-sXA67a7OUpf^)nM;0j%^REl*h=EncOQSRoBIfp}BX7g4jaiYwy9lut!bZC-G&aBAAx zLUM8(7ay`mJ9vM9ISa2gP_CG>UD}@RZt=UtAVko~ejRPu?<0cO z=fUkQE%9Sx9*8^ks+*_B9$=$`*4Xq?91RV}{!jCE_bcI!@cxJ9ir+|wI7w!CUoqPQ zo02Fc#!j5AZ--k-YjMm<`m~_*@$mD0m*s+d@!uWs_5z_aGEkWf~O1 zhqCG)$E^0ziTAIhK9@Dm4s@&D{w#(-Xzz|$j&F~GC?Vh{vc+g_!f@5Y>k^F26fm>8 z?b65u1+DA3FabLU71h_L(ZM-t8>G={tPX;I){a$T-Dtm6#-}Cbq3w1(?B=fRFQ*H< z@_p=oTs3yv;)Kt|qW&#$f8PP*B(1!nPpn7Bmodw%=1rJ?Ta}Sf_eAyqpi_Y36w*u@ z>G;gz`RtM$++%cX8M6BMcWe9}e6=S>q|8&{SHKbW8v>4WonOjg5wQ!75OkiW;X|XoDk2j_udARx>7<`5)Y9F$Y&{VgutrQ=SBsdXI3LZW!SY zm%bC`zKhpplQ(ZIf+!{Es4pHTu5)0fXf3&UkN~m#6VT zS$82zR3NIWv&P2?I~Zd>+TVK2W#;78>AFovIXfrSeRHGY?%@F}#$dy&O3m(8PLUVQ z?E-2AK#T<};6=`7qdPdHACmh6WC6^x)Xqi*_er;ck zOW5nMe4(a5jde@$aAWYf3SmS9V$uUgTG|2v1Q}E96C49Sf0jfW2Wc%85@kyj%Du54 z`ts-za{N?K_U3vc?XB5f?O*f~oh%mPko{t{A%k^Xvu*0Cg{xhL1kn#QHHwVMIg$Os z9~Io^R2briL1Xz3fdMv-8Zd_|D#jRsn7alP8Z$BS)j@ONTS^T;n`27YNy14Ow|{2| z3h-;A{-K6dkOb|PN&%zV*Xala<~F-`bo?r73k~d`WPN0OWN1h^x3U5@X;eil3v26< z=orODp$MsRosWj=*Zg%T?{&on*Ef+%=Fo~)a1<|gv0S=8zKw6`Rn=g74CUz8luT*o zqs0{0FOru#^04`5Oi%9q>1Ru35f#7qRELXfZ5O(P!*xZeSG;$bX#~j0$SS?#8lLDE z++E40Gepzh7runMDddOM>l|c;2pB8H7w@Ejf+YMl1IF(c>k7w14g_IZy& zSfuUah-IPz}KEW|L`CNa+=aiY2lm!FuOtTw|RUFQC4=#Z5ZMu+_=3JgParFI?bHs zbyqH{886j7*{*kTk2m@@3tznI6Z2t9KJk^kQK2%RQ)G$k=%5DvE@}|?ov1K+_zm2i zm2aEL@0=EOw7;((SrGb~c@q);y3gEI^Etr!9OTf`^Nr~9HN%7^(|k2GHFky>qKgX$E89%AVXd*LXI@Qp zb#cn+#=y`I5f)AYzy~ngVh#)zKZzUQ;rAFm3?#t{tGI}1-&s&>+_d*(5fuYXH)zL8 zOYa->^bzyGJ7yi-^okEC`oQ%}PZ75`W*<45uQBDpFoOSDHE)3SrW>x{pQTbZ;LOgH zHMX&4y6WVMO9b?uK%ly*b=bKi^N*>CRs&iGo--UNQg&3H+8 zMP5tQ4F;w_=kLG(7HG`!_b3=kR?kGD3nFd!{zMg%*w?jmcA6V{Br%$~x%KLD{~-}V zMMdrPJop+UP(yhac!}PHpx&vnw%^00Ph`c#)c~xt93w&h>}(N}6TQsyw?41Df20e# zclSPQb$T_eSE3EVMS!;Ve!jn<1!C=4FRdeCUq8fiA)(;)_2*z+(kChyJW`En?K6!C zmjfGrep?$xvFd6_qSiG!;!VvN%;ah7;MnLFcj$ zEeWl|zK#M}k^)&=FMoDWnGvGlw?G@em1PbRha_kQ`bh;<&A(>W{8>sxMFoU7LQ?rW zAQ}Z9SDxpE+khP!ZKL0`?~BTutEWvVTG}5#Oh#54kT@Am^5Kk(U;{Q}Z;u^Fs~dUR zVChdm4`pg=OM^i8ecZ+b4<^M(a9-YDQkV8|tVrz0`cP9`V!ob&^cVP_#l!-B9UgYC zuRkc5`qqIz{Fe6tyDM}8;7|~>rRI}H{=#Q=W9F8#CtF(_;Ib!b)tnr$7|=tOJ|Cxb z9u&zRn^=7%#9`rd$n2iezYln$nX;;TjeU}oHxiN8unM9UqtDNYWxlxfZF1Co`i56z z>${-b$lLJ5NZaxY3BQUgum1dGnt_XX|7CM)^2jz26@dJPhk0Jm5RUa|K@1Fy!01->+)smOB7pu_DQpE(_X5XdxZs9z3B_ zqm++k{k+`w3<@dI=YyxLzf;IJg5iKu)UPVfqn2LsG?zX98wa^W* zGv@UKH)3jWF#*H|ba&$~cCe2))b(H#oR#p4I+?IqO$c&k7OmF|u3%_ugN-kr_2p7$ z0II$Hh*}CqrAZJWxSj`g=?9AfJ3lv{3UEz>1A)?%qLhqJy$gJ#_GNTT#wLl;I3QWn zx2Vt8Wulzhuq*R4^vB=7fOgZOa(I3HjBIQpQMt|Uq85NTfguP{i{SAW+IBGw< z6$j7&DVJz;ZmuynWqd1*J_@`<0s*W7bBGwEfhL_LnjRG9a`JNc@#)Cw;2fF#FF-<_ z^wI`mxVZ^F=ivzjX+E*>Z-AhY%)&yGj5ZG}DKKnqadBq?_N+`!$;ov9>B%hG=n0e0 zXVrhp8=(iy2FWDAQaB58g()C};D|AQq72GXXJ_o#7|!e0qo0ASh=E~~jGP=q1Edol z#nKZ*&3qpHjz9|X@`eL7E&!zg-GbTV42uC+;QqnE(~SL|dzj(xZ?~%$*p((^981cHrK33uw-BFeaPN_VT-Hp)os zGh4m2im{o4*aaKDv|X-q+G2{U=hv?ee~|YzklU>t&FlqcH@T!(l5=43^b~y z0RazNptzT-$otl_T&Cs?BLOui;~YMtJt-Gcc#j`5P{id|IYUB1di4x4d-Lvo!@}@T$zXAmI>E7cB00;%2Afexwy@s8|0i2QFU$*ZKx~v9}mixX%g;&Ame|lRM)>#?4 zRtFcAfL{{=enPXc9i#yqf{S~RRo`Q3$J8o0TbTtnZi@wgr!)0$veX~58;FLgTWkMK z%GKIB-96dBTFhRPe?M%7J4{tna(WueNDc;!pm^vMo$xX^*lB<7L3%>9Pz%te{KEGvXJ-;RRjtbCSMrZzY{Oz>Db!Zs7&r9J=tDXG9voBWu*-|oYJg=Dut zZwxorqeKZ@;fL})&wfN4zBoO1$+0vGUH6QNKYplgm#I-mR9VOgWp?xSj+~#bg8)xq zbwdM)`Mz%N91mkHhIzIiW#44rBd*s%j=FpCByiP(*Nx8+HQq8{sh>8|CGXPHUFA;_MbzIm8yU&-%`#6>jE@4sQ#Z{WI6^V(7X( z8TsHrd5hdSzlS?x#oTiQhSmb+*R{kE<5hJ^#d^X9GO_vS!y|LP7nOUlNO$k`uqpt3 zmtBbj?e6aJQZ^s-T~;)$48(97_gq~OffMNIu)4Q3Q_vVAa?r#X+`pJ*M0I_j!6b+R zDSkW1Z5p26X2+THo1=V;TABG}&>bC6`hsr)f>i{apzJS`*fG;Q3|sS235{85N~k`~ zZ0Fc*9ew+{C;WQ)6(fO10N%D?M<75Z#$!W)}I%eEWE;^Q`9%`z5V$XGcfW(2(YbsuJDuYPAh*rmaDk zeOB0kJW*l0YjVCCXfa3c{5Tpr<$5RP<<$1ZjOuL9O|0$g8cPZcxh5o##Q(iaQQo}3 z|6Ya#xuyImQ#dX+x3k^20qUKT=5~ED@pP}hCNN=k0q?l=q?z?3O02a~>WOJv2Qia< zDx^d$g^D+W4~W#k9_+2;6P-A+eIMa&re78Cr^FiI3a4+-nzoI{y}DrBm$7T7c6{u6 zCZmSvtroDmH}bVq4U3q-QC%~-sMhk0h!RchwR;QkGsW&=XbD=iMkP|}O7JsPlVLne z?E4sWLK5XJa4rlpBBTwE-(GX_`{wv)w(VREg(7EC$@_&=+#1+zk5T0xbmBanOo$QQli>y0|Igiga<(m_C`A76)SJ5zaz z>AaQ+=52d8VKsK(v|A{b@p|F#?>2Y$yV;UmA5^6oDP8H0LI^@1rCS)BUZmaNhVu6h zswzEeeh!YM+Q*L`K~%9UCr;vc5r!7G4aBmN&l(K-z4Q(3ew*)97~4yh97~DWg)GYX zTh!nJG7qS%(Oa_sWADDs#uq%2C28j?lY$+Bc-|B}Rlz@FgyvPl?;~r+Bh)WkkZKc9;ev8czZEoD&p5dZvRZ+J)vVFLW18q5F@Y6_! zDSaWxWNWW@0_O}h`z4DAi7CKTDGS(4Y{Xwh97)8y9(d0&(nuNOp^G)oWeroSzVN>x zq_Pihd9RO>W+s$3^aiqX_&CCHHEf*i`MadD$KOg(dY`O~w-Td0C>>t7v(22oo8WnE z=uaG`qOYDpb#bW)8tmPyaZSThN=Kq-AT1meCiz@xe<7QKjSqwdFz+His!YL}Z|y&F z?O1n&&yPlZiaDFu+Z*j&W8RtRI&s!UQzqt*l{hTuGz?-svnI4p^6)1T5ELx0d^?z| zLt-SzvHoloL5N$&<>uG$qSkRi&R^d@#pp?POw8Mc{TK$Svb*yfdf>Eu5KkBU&g~DxKMA4a5A0NVFu6k|D_d7~0$0 zqhb;-MHyA~hdtoIrzaFTQHc(hBim9~n3cS=EIY$oufuoUMDq-+PE!f-F2vD~h1@Yq zOAVZGaH4xM$DAD<&B5WIwG#dlM~_R=k(r$-ePljPAQ*G_*ZHh+Ivx@!Dk=*2{*R2i zC_2x~zL5m?ps5@$;YIZNxM~|aZ50uewP${XDG~GzU;i=~{JO^}5O!A-pDU`!q!9Kk z^_KvB%uCGK(^R9jE9Mp&CTmBA&db#xT5xknxY*19PG0_Sa^6z&riPOlht8d=R`8pf ziVBss2*+pI7_{<_07+nzdA7{SIVMTOwD`jW+MZ**j=Jxckt^=#hYKJa2*l4%7PU z%224V&R|(0q%Bv=DQCOs3she}w8$2mcaFfm?BGzYbNa#K9&`pKjVikfAKI&~2ozfD z3jVz#5KP{JWgwl8)}pZ$LEcUzyra(1uC({L3@pRVl@3S9c}%iy){`_q&m?#?TfG6- zQR}zOTnZ!^L~%`Kmq@odeJ(2-Z1fEIHrO&Luu*1PI#|1Yh0#YUA{aB{qB9H-7ywc) zHm&x9J?0ZLJDw05aAKO;{UIV^!q!g%&~-&ld0p9KCua4|>MQOoeaD=Uu2Y7!Ik!ngErQ?GyoZyx%DbZ+vIAc5?^h5lA4RX{R8Yt zCmYg0``2_vgV#ubMM!i6)oXSfBz`DaZ&V%p)YR!PeE0Sa!9q-Pq@`V9Y7wQhPGVh{ z^~KJYD4o#6a{j~^UWs6FJD_+H+QVf7gTO_6A`N#O>i$IftFftYhD&H+?M>y3`7Md* z3*BpFL{7Kv@#luqSKh{Ib*L zlF0?HvmFdP+hd~E-2m+TJstJ{u-n*ix3UYN4gwY?nArM8sZiDsUY}))GpYQK%W~7m zf95Id?K92FczAdfT(-t1oc#OwKmR?;pX)+VnO<8tmZz`jg4cLxSsS(Pecb!K;P{pq z0myN%%^AccGq#==#r5gpIS_T{Zj#6b_7H~{5s{EMt+%b-l8}%(!yR*2!hW3jhqOgL z*!F0_B1i$97Q4WwYS|I$5KbmfdG?x9TyD(h+kwq;1O+=MyV!BTC<9_veTA8hwS@co zHnc>!DM<+;vGmU>VBidvry*9nm!UlQD>1l2uC4hKd;fA>{%n2RmH6Muhmh->%xsR` zo)cq9$Q@7%X=o>hM4B#DN>B4u#E>p-S5|V-6Pfq#f$TgT|9#IP5c>+w?>#(v%YVOr zCj*2Vwt?qKvmd%cV8NRT^RlqaS7?r}o@I?{`ba0)oslpqK3it$ErLsjzQGTtnJ_4RL@8j-Eh)YrqqvEMU ztG9-+PvP6JWY{n{4?c94@|@@Z{z9MCM)RrS%os4Twa!ZI=^JF$Eeu8L8Rs^2q9TjN zDWfy9v%@OwLCfp>eIWsrvDKJ$#}GyQbJx+ocY{8+r1QWrghw}GCi?GJGVtKa@=-MS ze&a%c+?B|zK_Hah6=fu~baeE%wF8l?9onk&>0Gzfbb~Ffn+L(S`uaYa2SsPqBwvX; z9=@`4B(TpA+9EYnPeI{gPSy80r|{GJ-a+{n+0@Vwb$x9(x6q2JP6YIC&}4ql6x;`u z0?CAp4H*P@^4^2WR)$eWAbTMK8gJM({;*h0I-)Az z;33d+fUJ52M&WXr@qK#Wq20cIBzoXeWs-eu!8l$aou9dAuEh)e&@zz`9O|fq~#Ripc`S!SMTP zAm!D{Wv5Y-MFRnF(`ahe@n4s362Tow9GN;fHs_CxnuEQ@(z#(Mib>!c77FAy3XBHo z*&HU>AD(_-c6Fj^r}d=MB}cZ+&FM8z7FAVM0o&2kG-lx^z@NDdTzr20`n9yS{?K?B zcEUoHD>LQ87>Op~5a?=y`_VrP&SvHOrL(k`-OvB{6RyI@_4JyzGe~y0;hQk{*4uS# zzmM$Mjt+AtmM?=tLIS={yGvH_Z<%wwZV8wx%dhB5Z^;Q!mY>_#@}%=VpGoJD2qFYf z0T?v^zCKmV&%Df_rpzkU%br&y_+@80ov(!uu=eu8$jYL;N2&nGB`+Lq_-R@HB%P}R z4I<>WBl_bvAAKUGRw~Z-kJ~*DZ(ardPF(ESax;{jB9C|}I0#>JJQ>0W1pp=*4a+w} z!rNfj`*+{prNG7A82rJl{1nQK_@@@M4)v1wM z2kR1W_ql=w7Dx`12XYI8y4u>clKh~(iV=WQ$^yvA+PZ1CAxcJmEFtJeMrLM3)Gw5S zBlAk#S~J7Qqf~ZXa2u$JB!Dy^&s~~PAnpJDAR}gGWPxG@a4Up0dP@|9dVXb1Bx*}7 zz9b}>CS^HezT66cYMZhl0vAlDF7*EUhXue_05JY}cQZ3n*bWN=7_dSTkxhQ}Sww17 zMOD>LOO^h$3ZkPWeGsS&9eM&$f7$T5NJE?7*~+6$BcWw{P{+Sz?Q{|1_67JbS41y~ zR$FA~Ia*5V>aan-o~ZD6y?TiVJcJgdmz9L#=e@Yn(ocCX02C1dw(njf-P?=$b=sDS z>Zi4w4VyRH^4ePDZZH8>*psNf$wiS#0!vwz5t!8h@1e#sv^l;*%v2iZOdxrjMLt=vEF96vCQmeHHiJLcL5^dZ4 zO;p{S1JZb6=wQ8x1yEpMu}X7Gwt&8tFUqGyLe-ovPg)8-llD|GiL-iNfKdC=(MuE8 zYb6{u6z{gkChM-6xM6WCqaIpX+W6Ey)2d^vcxnHKRCUKCfiNx+&%A9eYz+@Sa>6gZHm|`R4)xVZg1;m~3Pj<;W(#81x2?^0<$VW`8K% z;o;?t4+~r5w|CR$+A^=?%)1^fJ^_O9*26*D(klTa_m`PPQqx)qdnNcEg-9cmN*9t9 z7^6RYFavUTdLm#r(;89IeyaG~PneiJ;0K*zx#-77E^{>R>7ondF>lixTC#SZV$UVG zan<6qK80is^kq1bx%s)94F+H;vt#Xm3T zj{P2Y61e*2U%bZ%tw%|XegQ%Bco2L}D%}JqG-=Y%8^BGvMz9X#mqr`ue`bwd{s|z> zE}l=3VZF7Sogfm{D>K-I&T7}O+JpTn5PgEwDj_5HqAm<=zQ%X{taMo51Y88eWhblt zc~6*#2}4B_v<^{VHG-!J?x-y*oGtMCVKn+`v)o8f1%Gu1lbZn)LyU~Y`RZgYgO=I! zz81c%1t;n`GWlt7c)^s=yB0vb2-VKl^9$;IV66H2Ox|5Pw6`3a)INo`Pi;hvMy^4Su%+2Q70$${8x+x&c&=P>M_q zZAvsr@E?C*@(v!XjU6Ne2-JTBFAy5PQm_5EO$KzLHhkc|>U|9cZEbwq2uH7KRxHdg zsgIWPPLJ55>EFIIhog!_XTmP#kt`DbEtDNIJ6r3S1hGX zy{@edc!6;eW0sYJzl1=g1gwSqzo##WKN;Rg`W=k^oBdph#hdY%H$xgQ7_YR66WZD| zzArddHtZEK)#gw>A|(zg=~fKyYZ0|k(zXRc(f)ozu-nyDDD4>I&P!7+z4$n<+TZBe zYc} z)N7UE^rW=tC=xk-Hx}s&)R|**#XPW|o%_!5t|gYU9i)uhUxq+G^}$6?j$?qi_#{s1 zr8IPD-A*y-3GN8sE6r=r+;jA|5r~pnU%X-sKNe$m!~Xx~rDd{_Ie(O)R)|PlVrY}V zN1^mV#V8S$WFv6CsBUUX7CaA!{{qrnSu+v~QJSWt`csy~noGW*NmO}2`0?5Tv()RI z$v5?276Y{i7zJ>?mIP1YEox@%h#hQWxVPQYpVy&U9d07CKk8xx2W&9OO(1LKhz;l- zRC@a_H~J$$S&0KW-mI*>IB`*})PCRPkP$<%#p`D24Jgflj>gQ)Oh|{ADUhF#Kxypx zRRCcns#E9N(ne(}7KDd)X(Si=zOvGI&r1n#=X4~>b2?RROjeeIMCC_s+*{UrJ$=$D z?R~-@w|pY6usLY8ZN93N@*rklu=r?6p0C!Nzu9|LnRrA(x$F}1J)*D0KR(&M4QLrb z@m^}Fi_gj7gfMHAh=E8|aN_2f zBV^x|5Js+SA89I~n%$sR@$VTzGu#MsKdWJ~dRP4|BP ziLb{z{BY*X`+eT$ocB4e^LjmB&nI}}i;Jx!40Ot--Q}5ykrKxG7le&udBMlUk$^5` zQbImLWy&?0Hz~cYs;%2Q$8*GBDBx|S=N&sE&O|p&&EM=JbTQ99ukQ5EL$oV4aRs6& z(E$AqsYNg@MxWy6?*t=#V!TPt)7#qti!Jmz-Iy~w-#N!5iEkHF=ZPX^Tb6m)@N_f= z5vQiC6xlL=U}t-RP+VP&Qxa)*6j4T8`CZS_4BIK+s_=95z3Sfzq{M}ejmkUZxy~f% z%gVONcJosfhIQ!yoC3R>CyvBCUFi7^;`5muqd7u^Yc$Op4PJyR?mW}HlagZ-6Nw^SZUQ+0Ljh z0bKy=M%9YRBY>qOFE5Y3`Jv3PBZz$^QbFdFWuW_7U@#Vo%}RBKiw(AJ9cAvr7P)ayFn@o>v@{hCCbE|{vALO1FS3c- zCD%Uk@4t5+bp{d>uzi~s=ABN{?!oNMc^Z7P^TgTHLdPJj0mrUw#BqZ=2`!E^?9v+w zD6LQcmy#U#l|NNznNz%qlV%!rp ziH(U__K#Ch<9!%NBVt2<^C*22e?0hBOSS48r^8AZ1H>DZbb58}KPrp&)9j)x^0JPr zKMJt-W6~5#xtNLhQt!O&j~nlMcU0@V5b+zpY5{!Wv$gm$`McVDibm4RwcGV?1_)E` z@T%O5lQ}TYlDt?aQgQ91q@)Yb2Q37XI9-Stq4NV_u$gpx`zC!>Lp%lDfXBYXMyWmZ zp{0W5Pk6%>wNCBhJb9S=_pL^JL!icsmVABXVQarro1-X^1MI$L5W9P;FMTOA45gl~ z9ZR_G^-2DUKQ+^~52KK7o4(uUXC4}*dA1Xi6Li#Q{A<^PG&Bk<8JpoIcfD;DK4%?a zA8&7#!on$LIJHE_NSSKUr;d0tMB(ByGLrEYvdiJKsWq3Yj}FGGL^R$?x5|1)?QJ|( z^LVqH+V=}HVlg}Gz5Sf#6Rvb~5q(P@t%OP?o)tc`YT+fYRo(DA>qn!srue1o0^u&{ zxuzVq=EZtLX~+3)6EogPuH4vO6u3Ih_|SsEfxnl~$^8C-opJtDu%A$q%f5$;)`t{$ zEzi{DinM98?DE|?nEcNrWj&$fcOAnom@~NlvWyZHh1bct-}Wu=0ZHM5UVaum%bDts zKj>~RRqur{(z5y02YM2h_UnIF_Cyx=?sQmlFlqgPA1YE7b1t{hIsT**r)Cx-M z(q2vGF@X<%0|}l@!|aGk12u~ zX-?2Ngq`})zfPD4uMX{SF_8)B4V<$;f}j2ZpzPQ=`K$gp;HRWS1|bs@iDG#1**Wjb zrr57vKPsAi+}AjF?vUM(l8(+ykX@Pj)^zdFS=3EIU{>nHAEVzh7mU}c?Ce8e(;l*Q{ z*V%*NKWzIYsj!`@606GRIz#S%*WzX(-;3IikHX5P%;y28MDXDKiO$Yv@K8n1EQYNI z=*Z_GCxRyxi(RP~i1-3G!jSKM5Y#AVKzMx)rvo@3;!1X{E>X+B`gUaVgX&t?mp@rv z)Z&J8_>Xjim{o1j8~a>)Fz3P7Z+eDpqW}y($|nr2t#&}-!B&M9SMnJ5`GjW!U-oOOE1?CSWoPO_(Zvj2HNtcAw|5E`5c(jM#pbwWg<3);hz0%jbErzR^Z{=54M z_1D81L7|L0-5-X`0-11;&A>D9lxOJ+u(jA!$mE(zcPq!nb<$xNbP5xIuL-Y6 ztshfge_;#9L8jsXVE}yr!B7B%TjUnP;^J5kKU!q$630?&Y#tXeTZr77xS+F^Fo)n- zUg-(Mbt={BaY)7#dWM@MRF{+hO9Qxa=DAY*D(rX+=@B^I#OvSq$*zryymgW>EW(-( zK7TLkOIzjrvpAqR|NB7aYOzHaTf}ab0*ys?hZFIAN&;Hzd+3O|#!&yzoRgr2xCnX( zbOC*Nkz4@efeN8xxCLP_b4Dk4g zf#SWATNU}>Y6Ei#I4`chbvi~SKP(+~5n;wJUAtrwuYiE0;5`JwLieX8h@YMXfoXv7 zj!t7ZnJkfzK7carubwX(ydlc~nYB$#^z-hXZ)TFUjf`f-NL92PcDk<~>%tCDAO-~d zo+WS2*`;r`DcpHBN!t+bNQkvd^E`PNoYbRzU6n}?W6tEfRf&^%c84_d9-vR43=+C~ z9&Pzr(0gpFF&0lj7SyE^Hf+9PV_*}6&!;ilPDs)-$See9As||{C6zSr0{@@A{iHfr ztG;u+!I*qYc0Dtl%WC@*Z!75=oVC}q&~zJ&v9_Favllo|gb))n!`a%PjrZpu9#K}t zgEA&juHh?lkp;}snWi%$*Kf#ccr~&kKsmP?aWA(5p~s=56+$6s%YH9Mo`IJli>hn} zQQMN8S7jH)$zM;TLY zw9fl#yz^LdQsQiz)M zbuBWOw=iD-W(SBW0!4sbmNZUQ)5tst?{ zk&ZTnafWac3%&p{!=)~l4|i9Jc@X!36XztCbAcUT&0!&3;>w$uVFnkYO&>wgOno04 zzF(yFJB9S&gRRxjSP9#)6gvEjj#*p~j4UbXSFQPbM4!=VNu8_JGX_?}Hd7&)S8x54 zwm$220TSsD0w77g;PV7L-t!U=IeqGOgspuwzG8HJ#>+)`W(nBmS|Ng zRkereL3>oeDOHcdQ;C;}lfEOc>YD`Q6Y_MJBPDXp%=6m7_@-I}`}=?JYgpL&O9F!_ z&F?e{?Hai&%(J0A3qySPO%?-mgjzO)2Six`V8N`%A&U1rpDlIyTF7q<1yTUKEeeZ( zc-FIoxIJ85*hA_e_E%5e_vHARnX24vRby)p&v6mKz6{XC*+S3mLTafJs)ytoYw?|v zsTC`@nyGT`ysgyH(U(GXPwVFxH%4XMN`KBJ=&rsF0%qfU?=5BX3#evE9xi7Z>NK?9 zKgC_OWz!~K(t~ISdY0>=_GbuP#ylOt1{ALaJ(|f?CYT>W3UH7$`zN;@JJsqdCF4FrxLt{R0P~ELa6fu?=OV>N(P>FI0>n?-n2{>v z`P7#@VB7>x=_2I7b*<;9sHbw0xNn!0u<=w zXaye5|1phyb+C_pf9r^)B>fvhF?*ftP#SmNB;+*uRAuQ6@PkyQW^Ae=k*}&MZKppj z@6FebDo~#+O0WN3)Lusi=-Z|`BYq%zdd<~Bq|x``DdM@&b#0AJP2Rc`wvn2;HzblG zTRUlQe4DkX=+cuWA!q_v7z`6TtQ)?L{{D!SpyM*!0)m3>>+bQ_=<1sBj|Of&e&97s zK-}z878aO~DPOp^GpRyP%xFGS5$}qDyGLnqNe((JudD!%m1aaZ7eZ0<6LtCoXD71N zbI|t`lU}vjg<%sOLj;5_#UQ62{zGoJoa26@DC?HvqGZd`{(z{*r#jMFcdi>@>n_li z&9NI0MHZIL5s3N*$O0K3MvF5MSB`>RcvF-T?Z0V=h+8?zMec{anhsqn=PE}-K= zA%odRbYS4v#^r;ssONnDD3g+JlbjVIMOmXn%?19igx+e<>}>s4@0H$F@O}K@f8}b~ t|5e5nVEadSRQ2RPLZz;X{|_#3pnFE)yRbBRFctxS#)jtTa{b#;{{z8}AeaCE literal 0 HcmV?d00001 diff --git a/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx b/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx new file mode 100644 index 000000000..fc1a74f20 --- /dev/null +++ b/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx @@ -0,0 +1,45 @@ + + + + + +
+
+
+ +
+
+
+
+ +```yaml +lidar3d: + - model: ouster_os1 + urdf_enabled: true + launch_enabled: true + parent: default_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + ouster_driver: + sensor_hostname: 192.168.131.20 + udp_dest: 192.168.131.100 + lidar_port: 7502 + imu_port: 7503 + proc_mask: IMU|PCL|SCAN|IMG|RAW|TLM + use_system_default_qos: false + cap_type: halo + base_type: base +``` + +
+
+ +#### Package and Setup +Ouster lidars use the [`ouster_ros`](https://github.com/ouster-lidar/ouster-ros) driver. This is +an open-source driver, maintained by the manufacturer. + +For more specifics on the way Clearpath's configuration system launches the `ouster_ros` nodes, +see the Ouster [launch file](https://github.com/clearpathrobotics/clearpath_robot/blob/humble/clearpath_sensors/launch/ouster_os1.launch.py) +and the [default parameter file](https://github.com/clearpathrobotics/clearpath_robot/blob/humble/clearpath_sensors/config/ouster_os1.yaml) +in `clearpath_sensors`. diff --git a/docs_versioned_docs/version-ros2humble/ros/config/yaml/sensors/lidar3d.mdx b/docs_versioned_docs/version-ros2humble/ros/config/yaml/sensors/lidar3d.mdx index 4377371ad..0ae1a3283 100644 --- a/docs_versioned_docs/version-ros2humble/ros/config/yaml/sensors/lidar3d.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/config/yaml/sensors/lidar3d.mdx @@ -6,8 +6,12 @@ toc_min_heading_level: 2 toc_max_heading_level: 4 --- import VelodyneLidar from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/velodyne_lidar.mdx"; +import OusterLidar from "/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx"; Three dimensional LiDARs provide a pointcloud of all points detected by several planar scanners at various angles, which is published as a `sensor_msgs/PointCloud2` message. It is important to accurately position the LiDAR in the visual descriptiuon of the robot to ensured that the scanned points are accurate with respect to the robot. ### Velodyne Lidar + +### Ouster Lidar + From 4b534bda9bbf33937a5ee99e1719c617f3b03906 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Wed, 9 Jul 2025 11:41:11 -0400 Subject: [PATCH 2/2] Remove cap & base types (not supported in humble; jazzy only) --- .../version-ros2humble/components/yaml/sensors/ouster_os1.mdx | 2 -- 1 file changed, 2 deletions(-) diff --git a/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx b/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx index fc1a74f20..49918474c 100644 --- a/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx +++ b/docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx @@ -26,8 +26,6 @@ lidar3d: imu_port: 7503 proc_mask: IMU|PCL|SCAN|IMG|RAW|TLM use_system_default_qos: false - cap_type: halo - base_type: base ```