Update README about ROS2 and the new multicast feature + carry over s…

…ome of the code improvements from ROS2 branch (#52)

* remove defaulting to C++14 standard and address an issue causing the parsed json file lose non legacy fields.
* remove duplicate strategy item from the jobs
* Update change log and rename project title in the readme
* update copyright dates
* Remove wrongly identified dep tf2-geometry-msgs
* Address potential vulnerability when saving metadata to file
* Populate readme with more details about (ros2 & multicast) + code refactor
* Remove unrequired using statement + formatting
* Add status badges to the readme and fix typo
* Bump up package number
* Be specific about the platform we are building against currently

.github/workflows/docker-image.yml

@@ -1,26 +1,29 @@
-name: Docker Image CI
+name: ouster-ros
 
 on:
   push:
-    branches: [ "master" ]
+    branches:
+      - master
   pull_request:
-    branches: [ "master" ]
+    branches:
+      - master
 
 jobs:
-
   build:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
-        ros_distro: [melodic, noetic]
-
+        ros_distro:
+          - melodic
+          - noetic
     steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Build the Docker image
-      run: |
-        docker build .                                    \
-          --build-arg ROS_DISTRO=${{ matrix.ros_distro }} \
-          --file Dockerfile                               \
-          --tag ouster-ros-${{ matrix.ros_distro }}:$(date +%s)
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Build the Docker image
+        run: |
+          docker build .                                    \
+            --build-arg ROS_DISTRO=${{ matrix.ros_distro }} \
+            --file Dockerfile                               \
+            --tag ouster-ros-${{ matrix.ros_distro }}:$(date +%s)

CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog
 =========
 
+[unreleased]
+============
+
+ouster_ros(1)
+-------------
+* EOL notice: ouster-ros driver will drop support for ``ROS melodic`` by May 2023.
+* bugfix: Address an issue causing the driver to warn about missing non-legacy fields even they exist
+  in the original metadata file.
+* added a new launch file ``sensor_mtp.launch`` for multicast use case (experimental).
+
+ouster_ros(2)
+-------------
+* MVP ouster-ros targeting ros2 distros (beta release)
+* introduced a ``reset`` service to the ``os_sensor`` node
+
+ouster_client
+-------------
+* added a new method ``mtp_init_client`` to init the client with multicast support (experimental).
+
+
 [20230114]
 ==========
 

CMakeLists.txt

@@ -26,8 +26,6 @@ find_package(
              nodelet)
 
 # ==== Options ====
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
 add_compile_options(-Wall -Wextra)
 option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
 

LICENSE

@@ -4,7 +4,7 @@ Upstream-Contact: Ouster Sensor SDK Developers <[email protected]>
 Source: https://github.com/ouster-lidar/ouster_example
 
 Files: *
-Copyright: 2018-2022 Ouster, Inc
+Copyright: 2018-2023 Ouster, Inc
 License: BSD-3-Clause
 
 Files: include/optional-lite/*

README.md

@@ -1,10 +1,35 @@
-# Official ROS driver for Ouster sensors
-
-[Requirements](#requirements) | [Getting Started](#getting-started) | [Usage](#usage) | [License](#license)
+# Official ROS1/ROS2 drivers for Ouster sensors
 
+[ROS1 (melodic/noetic)](https://github.com/ouster-lidar/ouster-ros/tree/master) |
+[ROS2 (rolling/humble)](https://github.com/ouster-lidar/ouster-ros/tree/ros2) |
+[ROS2 (foxy)](https://github.com/ouster-lidar/ouster-ros/tree/ros2)
 
 <p style="float: right;"><img width="20%" src="docs/images/logo.png" /></p>
 
+| ROS Version | Build Status (Linux) |
+|:-----------:|:------:|
+| ROS1 (melodic/noetic) | [![melodic/noetic](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=master)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
+| ROS2 (rolling/humble) | [![rolling/humble](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
+| ROS2 (foxy) | [![foxy](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml/badge.svg?branch=ros2-foxy)](https://github.com/ouster-lidar/ouster-ros/actions/workflows/docker-image.yml)
+
+- [Overview](#overview)
+- [Requirements](#requirements)
+- [Getting Started](#getting-started)
+- [Usage](#usage)
+  - [Launching Nodes](#launching-nodes)
+    - [Sensor Mode](#sensor-mode)
+    - [Replay Mode](#replay-mode)
+    - [Recording Mode](#recording-mode)
+    - [Multicast Mode (experimental)](#multicast-mode-experimental)
+  - [Invoking Services](#invoking-services)
+    - [GetMetadata](#getmetadata)
+    - [GetConfig](#getconfig)
+    - [SetConfig (experimental)](#setconfig-experimental)
+- [License](#license)
+
+
+## Overview
+
 This ROS package provide support for all Ouster sensors with FW v2.0 or later. Upon launch the driver
 will configure and connect to the selected sensor device, once connected the driver will handle
 incoming IMU and lidar packets, decode lidar frames and publish corresponding ROS messages on the
@@ -13,27 +38,34 @@ configured to use this capability, then another topic will published named `/ous
 corresponds to the second point cloud.
 
 ## Requirements
-This driver only supports Melodic and Noetic ROS distros.
+This package only supports **Melodic** and **Noetic** ROS distros. Please refer to ROS online
+documentation on how to setup ros on your machine before proceeding with the remainder of this guide.
 
 In addition to the base ROS installation, the following ROS packages are required:
 ```bash
 sudo apt install -y                     \
     ros-$ROS_DISTRO-pcl-ros             \
-    ros-$ROS_DISTRO-rviz                \
-    ros-$ROS_DISTRO-tf2-geometry-msgs
+    ros-$ROS_DISTRO-rviz
 ```
-
 where `$ROS-DISTRO` is either ``melodic`` or ``noetic``.
 
+> **Note**  
+> Installing `ros-$ROS_DISTRO-rviz` package is optional in case you didn't need to visualize the
+> point cloud using rviz but remember to always set `viz` launch arg to `false`.
+  
+
 Additional dependenices:
 ```bash
-sudo apt install -y \
-    build-essential \
-    libeigen3-dev   \
-    libjsoncpp-dev  \
-    libspdlog-dev   \
+sudo apt install -y         \
+    build-essential         \
+    libeigen3-dev           \
+    libjsoncpp-dev          \
+    libspdlog-dev           \
+    libcurl4-openssl-dev    \
     cmake
 ```
+> **Note**  
+> You may choose a different ssl backend for the curl library such as `libcurl4-gnutls-dev` or `libcurl4-nss-dev`
 
 ## Getting Started
 To build the driver using ROS you need to clone the project into the `src` folder of a catkin workspace
@@ -58,31 +90,91 @@ Specifying `Release` as the build type is important to have a reasonable perform
 
 
 ## Usage
-The package supports three modes of interaction, you can connect to a live senosr, replay a recorded bag or record a new
-bag file using the corresponding launch files. The commands are listed below
+### Launching Nodes
+The package supports three modes of interaction, you can connect to a _live senosr_, _replay_ a
+recorded bag or _record_ a new bag file using the corresponding launch files. Recently, we have
+added a new mode that supports multicast. The commands are listed below:
 
-### Sensor Mode
+#### Sensor Mode
 ```bash
 roslaunch ouster_ros sensor.launch      \
     sensor_hostname:=<sensor host name> \
     metadata:=<json file name>              # metadata is optional
 ```
 
-### Replay Mode
+#### Replay Mode
 ```bash
 roslaunch ouster_ros replay.launch      \
     metadata:=<json file name>          \
     bag_file:=<path to rosbag file>
 ```
 
-### Recording Mode
+#### Recording Mode
 ```bash
 roslaunch ouster_ros record.launch      \
     sensor_hostname:=<sensor host name> \
     metadata:=<json file name>          \
     bag_file:=<optional bag file name>
 ```
 
+#### Multicast Mode (experimental)
+The multicast launch mode supports configuring the sensor to broadcast lidar packets from the same
+sensor (live) to multiple active clients. You initiate this mode by using `sensor_mtp.launch` file
+to start the node. You will need to specify a valid multicast group for the **udp_dest** argument
+which the sensor is going to broadcast data to it. You will also need to set **mtp_main** argument
+to **true**, this is need to configure the sensor with the specified **udp_dest** and any other
+sensor settings. You can control on which ip (IP4 only) you wish to receive the data on this machine
+from the multicast group using the **mtp_dest** argument
+follows:
+```bash
+roslaunch ouster_ros sensor_mtp.launch      \
+    sensor_hostname:=<sensor host name>     \
+    udp_dest:=<multicast group ip (ipv4)>   \
+    mtp_main:=true                          \
+    mtp_dest:=<client ip to receive data>   # mtp_dest is optional
+```
+Using a different machine that belongs to the same netwok subnet, you can start another instance of
+the client to start receiving sensor messages through the multicast group as shown below (note that
+**mtp_main** is set to **false**):
+```bash
+roslaunch ouster_ros sensor_mtp.launch      \
+    sensor_hostname:=<sensor host name>     \
+    udp_dest:=<multicast group ip (ipv4)>   \
+    mtp_main:=false                         \
+    mtp_dest:=<client ip to receive data>   # mtp_dest is optional
+```
+
+> **Note:** 
+> In both cases the **mtp_dest** is optional and if left unset the client will utilize the first
+available interface.
+
+### Invoking Services
+To execute any of the following service, first you need to open a new terminal
+and source the castkin workspace again by running the command:
+`source catkin_ws/devel/setup.bash` 
+#### GetMetadata
+To get metadata while connected to a live sensor or during a replay session invoke
+the following command:
+```bash
+rosservice call /ouster/get_metadata
+```
+
+#### GetConfig
+To get the current config of a live sensor, invoke the command:
+```bash
+rosservice call /ouster/get_config
+```
+
+#### SetConfig (experimental)
+To change config via a file while connected to a live sensor, invoke the command:
+```bash
+rosservice call /ouster/set_config "config_file: '<path to sensor config>'"
+```
+
+> **Note**
+> Changing settings is not yet fully support during a reset operation (more on this)
+  
+
 For further detailed instructions refer to the [main guide](./docs/index.rst)
 
 

include/ouster_ros/os_client_base_nodelet.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2018-2022, Ouster, Inc.
+ * Copyright (c) 2018-2023, Ouster, Inc.
  * All rights reserved.
  *
  * @file os_client_base_nodelet.h

include/ouster_ros/os_point.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2018-2022, Ouster, Inc.
+ * Copyright (c) 2018-2023, Ouster, Inc.
  * All rights reserved.
  *
  * @file point.h

include/ouster_ros/os_ros.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2018-2022, Ouster, Inc.
+ * Copyright (c) 2018-2023, Ouster, Inc.
  * All rights reserved.
  *
  * @file os_ros.h

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.7.3</version>
+  <version>0.7.4</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

src/os_client_base_nodelet.cpp

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2018-2022, Ouster, Inc.
+ * Copyright (c) 2018-2023, Ouster, Inc.
  * All rights reserved.
  *
  * @file os_client_base_nodelet.cpp
@@ -9,6 +9,7 @@
 #include "ouster_ros/os_client_base_nodelet.h"
 
 #include <ouster/impl/build.h>
+
 #include "ouster_ros/GetMetadata.h"
 
 namespace sensor = ouster::sensor;
@@ -30,10 +31,14 @@ void OusterClientBase::onInit() {
 }
 
 void OusterClientBase::display_lidar_info(const sensor::sensor_info& info) {
-    NODELET_INFO("Client version: %s", ouster::SDK_VERSION_FULL);
-    NODELET_INFO("Using lidar_mode: %s", sensor::to_string(info.mode).c_str());
-    NODELET_INFO("%s sn: %s firmware rev: %s", info.prod_line.c_str(),
-                 info.sn.c_str(), info.fw_rev.c_str());
+    auto lidar_profile = info.format.udp_profile_lidar;
+    NODELET_INFO_STREAM(
+        "ouster client version: "
+        << ouster::SDK_VERSION_FULL << "\n"
+        << "product: " << info.prod_line << ", sn: " << info.sn
+        << ", firmware rev: " << info.fw_rev << "\n"
+        << "lidar mode: " << sensor::to_string(info.mode) << ", "
+        << "lidar udp profile: " << sensor::to_string(lidar_profile));
 }
 
 }  // namespace nodelets_os