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driver_config.yaml
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driver_config.yaml
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ouster_driver:
ros__parameters:
lidar_ip: 10.5.5.96
computer_ip: 10.5.5.1
lidar_mode: "1024x10"
imu_port: 7503
lidar_port: 7502
sensor_frame: laser_sensor_frame
laser_frame: laser_data_frame
imu_frame: imu_data_frame
# if False, data are published with sensor data QoS. This is preferrable
# for production but default QoS is needed for rosbag.
# See: https://github.com/ros2/rosbag2/issues/125
use_system_default_qos: False
# Set the method used to timestamp measurements.
# Valid modes are:
#
# TIME_FROM_INTERNAL_OSC
# TIME_FROM_SYNC_PULSE_IN
# TIME_FROM_PTP_1588
# TIME_FROM_ROS_RECEPTION
#
# (See this project's README and/or the Ouster Software Guide for more
# information).
#
timestamp_mode: TIME_FROM_INTERNAL_OSC
# Mask-like-string used to define the data processors that should be
# activated upon startup of the driver. This will determine the topics
# that are available for client applications to consume. The defacto
# reference for these values are defined in:
# `include/ros2_ouster/processors/processor_factories.hpp`
#
# For convenience, the available data processors are:
#
# IMG - Provides 8-bit image topics suitable for ML applications encoding
# the range, ambient and intensity data from a scan
# PCL - Provides a point cloud encoding of a LiDAR scan
# IMU - Provides a data stream from the LiDARs integral IMU
# SCAN - Provides a synthesized 2D LaserScan from the 3D LiDAR data
#
# To construct a valid string for this parameter join the tokens from above
# (in any combination) with the pipe character. For example, valid strings
# include (but are not limited to):
#
# IMG|PCL
# IMG|PCL|IMU|SCAN
# PCL
#
proc_mask: IMG|PCL|IMU|SCAN