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Version: 2.0.0
warning

This page is describing the upcoming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.

Ouster

Installation​

The Ouster driver is part of the full installation of the MRS UAV System. If you are still missing it, run

sudo apt install ros-jazzy-ouster-ros

Startup​

ros2 launch ouster_ros sensor.composite.launch.py sensor_hostname:=10.10.20.90 udp_dest:=192.168.69.101
  • the udp_dest parameter is the IP address (hostname) of the drone's computer
  • the sensor_hostname is the IP address (hostname) of the sensor

In Docker​

Place the following compose session snippet into the example session:

  # starts the HW API for connecting the MRS UAV System to PX4
  ouster:
    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
    network_mode: host
    volumes:
      - /dev:/dev
    privileged: true
    env_file:
      - ./stack.env
    command: bash -c "ros2 launch ouster_ros sensor.composite.launch.py sensor_hostname:=10.10.20.90 udp_dest:=10.10.20.101 viz:=false"

Useful parameters​

  • viz decides if the ros visualizer will be started alongside the node e.g viz:=false