Changing the FOV of the Lidar in ROS

[Vineet-Pandey]

I want to change the FOV of the Ouster OS0-32 from [0-360] to [0, 180000] and in the Software User guide i see the use of set_config_param azimuth_window How can i set this param in ros? I don't see this particular rosparam in rosparam list.

Platform :

• Ouster Sensor: OS-0-32
• ROS version/distro Melodic
• Operating System? Ubuntu 18

[Samahu]

We don't expose the ability to set azimuth window via ros launch file. We have /ouster/set_config/ (described here which could be used for this purpose but due to sensor re-initialization this is unlikely to work for ROS1 driver. It does work though for the ROS2 implementation since it implements Node LifeCycle.

[imdsafi09]

Hi @Samahu
Could you please further elaborate how we can change the configuration to set the azimuth window up to 180 ° in ROS-2?

[Samahu]

Sure, create a config file in some known path and add the following content:

{
    "azimuth_window": 
    [
        0,
        180000
    ],
}

This config would set the azimuth window to 180 degrees. Let's name the file os-xxx.json. Now to apply this config file you can do so by invoking the command:

ros2 service call /ouster/set_config ouster_sensor_msgs/srv/SetConfig "{config_file: /path/to/file/os-xxx.json}"

Make sure to set the correct path of your file. If the call was successful you should get the following response:

ouster_sensor_msgs.srv.SetConfig_Response(config='{\n    "azimuth_window": \n    [\n        0,\n        180000\n    ]\n}')

The driver will stop momentarily and and restart with new the new azimuth window configuration.

[imdsafi09]

Hi @Samahu,

Thank you for your response. I would like to know whether the above configuration will only limit the field of view of the point cloud or image information (signal image, etc.) as well?

Best regards,

[Samahu]

It will affect both simultaneously

[Samahu]

addressed in #357 and #358