ros2-ouster-docker

Requirements

• Use a Linux computer
• Have docker installed, if not: https://docs.docker.com/engine/install/ubuntu/
• Have Nvidia container kit installed, if not: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html
• User in docker group

Steps to run ROS2

To run ros2-ouster environment:

docker pull ghcr.io/vmsamson/ros2-ouster
cd
mkdir Workspace
cd Workspace
git clone https://github.com/vmsamson/ros2-ouster-docker.git
cd ros2-ouster-docker
./run

What just happened:

• Created a Docker (taken an image of the drivers & set ups required and temporarily set up your computer)
• when typed exit all changes that you have made will disappear, which means every step that is made from running will have to be reproduced after exiting and re running

When inside ros2-ouster environment, start the Lidar stream:

Note:

• Your IP and LiDAR IP are set to Padions, if you are not on or remotely connected to the computer, you will have to edit:
  • nano /opt/ros/foxy/share/ros2_ouster/params/driver_config.yaml
  • Edit Computer & LiDAR IP addresses
  • ctrl X
  • y
  • Enter

gnome-terminal

This will open up a second terminal in the exact same environment as the first, so you can run 2 scripts simultaneously

From Terminal 1, run:

ros2 launch ros2_ouster driver_launch.py

From another terminal, run rviz2:

rviz2

Inside RVIZ2: Change Global Options / Fixed Frame from map to laser_sensor_frame

Located at the bottom of the screen: Add (Create Visualization) / By Topic / /points PointCloud2

ONCE DONE:

exit