ouster_ros v0.13.0

What's Changed

ouster_ros(1)

• [BREAKING] ROS1 driver code now requires C++17 (required for point cloud customization feature).
• added the ability to customize the published point clouds(s) to velodyne point cloud format and
  other common pcl point types.
• ouster_image_nodelet can operate independently from ouster_cloud_nodelet.
• install ouster-ros and ouster_client include directories in separate folders.
• [BUGFIX]: LaserScan is not properly aligned with generated point cloud
  • address an issue where LaserScan appeared different on FW prior to 2.4
• [BUGFIX]: LaserScan does not work when using dual mode
• [BUGFIX]: Implement lock free ring buffer with throttling to avoid generating partial frames
• add support for FUSA udp profile FUSA_RNG15_RFL8_NIR8_DUAL.
• [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
• Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
  explicitly by turning on the BUILD_PCAP cmake option and having libpcap-dev installed.
• [BREAKING] Added new launch files args azimuth_window_start and azimuth_window_end to
  allow users to set LIDAR FOV on startup. The new options will reset the current azimuth window
  to the default [0, 360] azimuth if not configured.
• Added a new launch persist_config option to request the sensor persist the current config
• Added a new loop option to the replay.launch file.
• Added support for automatic sensor reconnection. Consult attempt_reconnect launch file arg
  documentation and the associated params to enable. Known Issues:
  • RVIZ can't handle image resize
  • Can't handle points cloud resize properly (erroneous or corrupt PointCloud)
  • Doesn't detect and handle invalid configurations
• Added a new parameter organized to request publishing unorganized point cloud
• Added a new parameter destagger to request publishing staggered point cloud
• Added two parameters min_range, max_range to limit the lidar effective range
• Updated ouster_client to the release of 20240425 [v0.11.1]; changes listed below.

ouster_client

• Added a new buffered UDP source implementation BufferedUDPSource.
• The method version_of_string is marked as deprecated, use version_from_string
  instead.
• Added a new method firmware_version_from_metadata which works across firmwares.
• Added support for return order configuration parameter.
• Added support for gyro and accelerometer FSR configuration parameters.
• [BUGFIX] mtp_init_client throws a bad optional access.
• [BUGFIX] properly handle 32-bit frame IDs from the
• FUSA_RNG15_RFL8_NIR8_DUAL sensor UDP profile.

ouster-ros2 v0.12.0

What's Changed

ouster_ros(2)

• [BREAKING]: updated ouster_client to the release of 20231031 [v0.10.0]; changes listed below.
• [BREAKING]: publish PCL point clouds destaggered.
• introduced a new launch file parameter ptp_utc_tai_offset which represent offset in seconds
  to be applied to all ROS messages the driver generates when TIME_FROM_PTP_1588 timestamp mode
  is used.
  • [BREAKING]: the default value of ptp_utc_tai_offset is set to -37.0. To retain the same
    time offset for an existing system, users need to set ptp_utc_tai_offset to 0.0.
• fix: destagger columns timestamp when generating destaggered point clouds.
• shutdown the driver when unable to connect to the sensor on startup
• breaking: rename ouster_msgs to ouster_sensor_msgs
• added the ability to customize the published point clouds(s) to velodyne point cloud format and
  other common pcl point types.
• ouster_image_compoenent can operate separately from ouster_cloud_component.
• fix: gracefully stop the driver when shutdown is requested.
• Several performance and stability improvements

---

ouster_client

• [BREAKING] Updates to sensor_info include:
  • new fields added: build_date, image_rev, prod_pn, status, cal (representing
    the value stored in the calibration_status metadata JSON key), config (representing the
    value of the sensor_config metadata JSON key)
  • the original JSON string is accessible via the original_string() method
  • The updated_metadata_string() now returns a JSON string reflecting any modifications to
    sensor_info
  • to_string is now marked as deprecated
• [BREAKING] The RANGE field defined in parsing.cpp, for the low data rate profile, is now 32 bits
  wide (originally 16 bits).
  • Please note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] The NEAR_IR field defined in parsing.cpp, for the low data rate profile, is now 16
  bits wide (originally 8 bits).
  • Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] changed frame_id return size to 32 bits from 16 bits
• An array of per-packet timestamps (called packet_timestamp) is added to LidarScan
• The client now retries failed requests to an Ouster sensor's HTTP API
• Increased the default timeout for HTTP requests to 40s
• Added FuSA UDP profile to support Ouster FW 3.1+
• Improved ScanBatcher performance by roughly 3x (depending on hardware)
• Receive buffer size increased from 256KB to 1MB
• [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the viz.Cloud
  Python class
• [bugfix] Fixed an issue that resulted in some packet_format methods returning an uninitialized
  value
• [bugfix] Fixed a libpcap-related linking issue
• [bugfix] Fixed an eigen 3.3-related linking issue
• [bugfix] Fixed a zero beam angle calculation issue
• [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10

ouster-ros1 v0.10.0

What's Changed

ouster_ros(1)

• [BREAKING]: updated ouster_client to the release of 20231031 [v0.10.0]; changes listed below.
• [BREAKING]: with this release the ouster-ros driver is no longer compatible with ROS melodic
• [BREAKING]: publish PCL point clouds destaggered.
• introduced a new launch file parameter ptp_utc_tai_offset which represent offset in seconds
  to be applied to all ROS messages the driver generates when TIME_FROM_PTP_1588 timestamp mode
  is used.
• [BUGFIX]: destagger columns timestamp when generating destaggered point clouds.
• [BUGFIX]: gracefully stop the driver when shutdown is requested.
• Several performance and stability improvements

---

ouster_client

• [BREAKING] Updates to sensor_info include:
  • new fields added: build_date, image_rev, prod_pn, status, cal (representing
    the value stored in the calibration_status metadata JSON key), config (representing the
    value of the sensor_config metadata JSON key)
  • the original JSON string is accessible via the original_string() method
  • The updated_metadata_string() now returns a JSON string reflecting any modifications to
    sensor_info
  • to_string is now marked as deprecated
• [BREAKING] The RANGE field defined in parsing.cpp, for the low data rate profile, is now 32 bits
  wide (originally 16 bits).
  • Please note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] The NEAR_IR field defined in parsing.cpp, for the low data rate profile, is now 16
  bits wide (originally 8 bits).
  • Plase note this fixes a SDK bug. The underlying UDP format is unchanged.
• [BREAKING] changed frame_id return size to 32 bits from 16 bits
• An array of per-packet timestamps (called packet_timestamp) is added to LidarScan
• The client now retries failed requests to an Ouster sensor's HTTP API
• Increased the default timeout for HTTP requests to 40s
• Added FuSA UDP profile to support Ouster FW 3.1+
• Improved ScanBatcher performance by roughly 3x (depending on hardware)
• Receive buffer size increased from 256KB to 1MB
• [bugfix] Fixed an issue that caused incorrect Cartesian point computation in the viz.Cloud
  Python class
• [bugfix] Fixed an issue that resulted in some packet_format methods returning an uninitialized
  value
• [bugfix] Fixed a libpcap-related linking issue
• [bugfix] Fixed an eigen 3.3-related linking issue
• [bugfix] Fixed a zero beam angle calculation issue
• [bugfix] Fixed dropped columns issue with 4096x5 and 2048x10