Keelson connector for Ouster lidar´s
- Connects to Ouster lidar with Python SDK
- Applying configuration and setting lidar in mode NORMAL
- Listens on the continuous UDP stream of LidarScanPackets and IMU readsing
- Publishing IMU, Scans and Configuration setup to Keelson
- Queryable available to send configuration changes to unit
Check device web server on devise IP address ex. 10.10.42.2
# Unit IP 10.10.42.2 and log level debug=10
python3 bin/main.py -r rise -e landkrabba -s lidar/os2/0 --log-level 10 from_sensor --ouster-hostname 10.10.42.2 --view-angle-deg-start 0 --view-angle-deg-end 360 --lidar-mode 1024x10
Tested units:
- OS2 Rev D
Setup for development environment on your own computer:
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Install Docker Desktop for Windows
- Docker desktop will provide you with an UI for monitoring and controlling docker containers and images along debugging
- If you want to learn more about docker and its building blocks of images and containers checkout Docker quick hands-on in guide
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Start up of Zenoh router either in your computer or any other computer within your local network
# Navigate to folder containing docker-compose.zenoh-router.yml # Start router with log output docker-compose -f containing docker-compose.zenoh-router.yml up # If no obvious errors, stop container "ctrl-c" # Start container and let it run in the background/detached (append -d) docker-compose -f containing docker-compose.zenoh-router.yml up -d
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Now the Zenoh router is hopefully running in the background and should be available on localhost:8000. This can be example tested with Zenoh Rest API or continue to next step running Python API
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Set up python virtual environment
python >= 3.11
- Install package
pip install -r requirements.txt
- Install package
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Now you are ready to explore some example scripts in the exploration folder
- Sample are coming from: