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merged 2 commits into from
Jul 9, 2025
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Add docs for setting up Ouster lidars on Humble #431

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ec4f86e
Add docs for setting up Ouster lidars on Humble
civerachb-cpr Jul 9, 2025
4b534bd
Remove cap & base types (not supported in humble; jazzy only)
civerachb-cpr Jul 9, 2025
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Binary file added docs_versioned_docs/version-ros2humble/components/yaml/sensors/img/ouster_os1.png
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43 changes: 43 additions & 0 deletions docs_versioned_docs/version-ros2humble/components/yaml/sensors/ouster_os1.mdx
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<table>
<tr>
<td>
<center>
<figure>
<img src={require("./img/ouster_os1.png").default} width="250" />
</figure>
</center>
</td>
<td>
<div style={{overflow:"auto", width:"350"}}>

```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
```

</div>
</td>
</tr>
</table>

#### 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`.
4 changes: 4 additions & 0 deletions docs_versioned_docs/version-ros2humble/ros/config/yaml/sensors/lidar3d.mdx
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Expand Up @@ -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
<VelodyneLidar/>

### Ouster Lidar
<OusterLidar/>