ouster.launch

<launch>

  <arg name="sensor_hostname" default="" doc="hostname or IP in dotted decimal form of the sensor"/>
  <arg name="udp_dest" default="" doc="hostname or IP where the sensor will send data packets"/>
  <arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
  <arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
  <arg name="replay" default="false" doc="do not connect to a sensor; expect /os_node/{lidar,imu}_packets from replay"/>
  <arg name="lidar_mode" default="" doc="resolution and rate: either 512x10, 512x20, 1024x10, 1024x20, or 2048x10"/>
  <arg name="timestamp_mode" default="" doc="method used to timestamp measurements: TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, TIME_FROM_PTP_1588"/>
  <arg name="metadata" default="" doc="path to read or write metadata file when replaying or receiving sensor data, respectively"/>
  <arg name="viz" default="false" doc="whether to run a rviz"/>
  <arg name="rviz_config" default="-d $(find ouster_ros)/viz.rviz" doc="optional rviz config file"/>
  <arg name="tf_prefix" default="" doc="namespace for tf transforms"/>

  <node pkg="ouster_ros" name="os_node" type="os_node" output="screen" required="true">
    <param name="~/lidar_mode" type="string" value="$(arg lidar_mode)"/>
    <param name="~/timestamp_mode" type="string" value="$(arg timestamp_mode)"/>
    <param name="~/replay" value="$(arg replay)"/>
    <param name="~/sensor_hostname" value="$(arg sensor_hostname)"/>
    <param name="~/udp_dest" value="$(arg udp_dest)"/>
    <param name="~/lidar_port" value="$(arg lidar_port)"/>
    <param name="~/imu_port" value="$(arg imu_port)"/>
    <param name="~/metadata" value="$(arg metadata)"/>
  </node>

  <node pkg="ouster_ros" type="os_cloud_node" name="os_cloud_node" output="screen" required="true">
    <remap from="~/os_config" to="/os_node/os_config"/>
    <remap from="~/lidar_packets" to="/os_node/lidar_packets"/>
    <remap from="~/imu_packets" to="/os_node/imu_packets"/>
    <remap from="~/points" to="/hardware_interface/lidar/points_raw"/>
    <remap from="~/discovery" to="/hardware_interface/driver_discovery"/>
    <param name="~/tf_prefix" value="$(arg tf_prefix)"/>
  </node>

  <node if="$(arg viz)" pkg="rviz" name="rviz" type="rviz" args="$(arg rviz_config)" output="screen" required="true" />
  <node if="$(arg viz)" pkg="ouster_ros" name="img_node" type="img_node" output="screen" required="true">
    <remap from="~/os_config" to="/os_node/os_config"/>
    <remap from="~/points" to="/hardware_interface/lidar/points_raw"/>
  </node>

  <!-- for compatibility with < 1.13 rosbags -->
  <node pkg="topic_tools" name="relay_lidar" type="relay" args="/os1_node/lidar_packets /os_node/lidar_packets" />
  <node pkg="topic_tools" name="relay_imu" type="relay" args="/os1_node/imu_packets /os_node/imu_packets" />

</launch>