ROS[NOETIC] Add a pcap source reader nodelet

CHANGELOG.rst

@@ -15,6 +15,8 @@ Changelog
 * [BUGFIX]: Implement lock free ring buffer with throttling to avoid generating partial frames
 * add support for FUSA udp profile ``FUSA_RNG15_RFL8_NIR8_DUAL``.
 * [BREAKING] Set xyz values of individual points in the PointCloud to NaNs when range is zero.
+* Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled
+  explicitly by turning on the ``BUILD_PCAP`` cmake option and having ``libpcap-dev`` installed.
 
 
 ouster_ros v0.10.0

CMakeLists.txt

@@ -36,7 +36,10 @@ add_service_files(FILES GetConfig.srv SetConfig.srv GetMetadata.srv)
 generate_messages(DEPENDENCIES std_msgs sensor_msgs geometry_msgs)
 
 set(_ouster_ros_INCLUDE_DIRS
-  "include;ouster-sdk/ouster_client/include;ouster-sdk/ouster_client/include/optional-lite")
+  "include;"
+  "ouster-sdk/ouster_client/include;"
+  "ouster-sdk/ouster_client/include/optional-lite;"
+  "ouster-sdk/ouster_pcap/include")
 
 catkin_package(
   INCLUDE_DIRS
@@ -72,16 +75,23 @@ include_directories(${_ouster_ros_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 # use only MPL-licensed parts of eigen
 add_definitions(-DEIGEN_MPL2_ONLY)
 
+set(OUSTER_TARGET_LINKS ouster_client)
+if (BUILD_PCAP)
+  list(APPEND OUSTER_TARGET_LINKS ouster_pcap)
+endif()
+
 add_library(ouster_ros src/os_ros.cpp)
-target_link_libraries(ouster_ros PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common PRIVATE
-  -Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
+target_link_libraries(ouster_ros
+  PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common
+  PRIVATE -Wl,--whole-archive ${OUSTER_TARGET_LINKS} -Wl,--no-whole-archive)
 add_dependencies(ouster_ros ${PROJECT_NAME}_gencpp)
 
 # ==== Executables ====
 add_library(${PROJECT_NAME}_nodelets
   src/os_sensor_nodelet_base.cpp
   src/os_sensor_nodelet.cpp
   src/os_replay_nodelet.cpp
+  src/os_pcap_nodelet.cpp
   src/os_cloud_nodelet.cpp
   src/os_image_nodelet.cpp
   src/os_driver_nodelet.cpp)
@@ -100,7 +110,7 @@ if(CATKIN_ENABLE_TESTING)
     tests/point_cloud_compose_test.cpp
   )
   target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES}
-    ouster_build pcl_common -Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
+    ouster_build pcl_common -Wl,--whole-archive ${OUSTER_TARGET_LINKS} -Wl,--no-whole-archive)
 endif()
 
 # ==== Install ====

README.md

@@ -22,6 +22,7 @@
       - [Sensor Mode](#sensor-mode)
       - [Recording Mode](#recording-mode)
       - [Replay Mode](#replay-mode)
+        - [PCAP Replay Mode](#pcap-replay-mode)
       - [Multicast Mode (experimental)](#multicast-mode-experimental)
     - [Launch Files Arguments](#launch-files-arguments)
     - [Invoking Services](#invoking-services)
@@ -80,6 +81,9 @@ sudo apt install -y         \
 > **Note**  
 > You may choose a different ssl backend for the curl library such as `libcurl4-gnutls-dev` or `libcurl4-nss-dev`
 
+> **Note**  
+> To use the PCAP replay mode you need to have `libpcap-dev` installed
+
 ## Getting Started
 To build the driver using ROS you need to clone the project into the `src` folder of a catkin workspace
 as shown below:
@@ -131,7 +135,7 @@ over `sensor.launch`. `sensor.launch` is mainly provided for backward compatibil
 ```bash
 roslaunch ouster_ros record.launch      \
     sensor_hostname:=<sensor host name> \
-    bag_file:=<optional bag file name>
+    bag_file:=<optional bag file name>  \
     metadata:=<json file name>          # optional
 ```
 #### Replay Mode
@@ -145,6 +149,17 @@ roslaunch ouster_ros replay.launch      \
     metadata:=<json file name>          # optional if bag file has /metadata topic
 ```
 
+##### PCAP Replay Mode
+> Note
+> To use this feature you need to compile the driver with `BUILD_PCAP` option enabled
+
+```bash
+roslaunch ouster_ros replay_pcap.launch     \
+    pcap_file:=<path to ouster pcap file>   \
+    metadata:=<json file name>              # required
+```
+
+
 #### 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

launch/replay.launch

@@ -1,10 +1,15 @@
 <launch>
 
+  <param name="use_sim_time" value="true"/>
+
   <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
-  <arg name="metadata" default ="" doc="path to read metadata file when replaying sensor data"/>
-  <arg name="bag_file" default="" doc="file name to use for the recorded bag file"/>
-  <arg name="timestamp_mode" default=" " doc="A parameter that allows you to override the timestamp measurements;
+  <arg name="metadata" default="" doc="path to read metadata file when replaying sensor data"/>
+  <arg name="bag_file" doc="file name to use for the recorded bag file"/>
+  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" doc="A parameter that allows you to override the timestamp measurements;
     possible values: {
+    TIME_FROM_INTERNAL_OSC,
+    TIME_FROM_SYNC_PULSE_IN,
+    TIME_FROM_PTP_1588,
     TIME_FROM_ROS_TIME
     }"/>
   <arg name="ptp_utc_tai_offset" default="-37.0"

launch/replay_pcap.launch

@@ -0,0 +1,92 @@
+<launch>
+
+  <!-- NOTE: pcap replay node does not implement clock-->
+  <param name="use_sim_time" value="false"/>
+
+  <arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
+  <arg name="metadata" doc="path to read metadata file when replaying sensor data"/>
+  <arg name="pcap_file" doc="file name to use for the recorded pcap file"/>
+  <arg name="timestamp_mode" default="TIME_FROM_INTERNAL_OSC" doc="A parameter that allows you to override the timestamp measurements;
+    possible values: {
+    TIME_FROM_INTERNAL_OSC,
+    TIME_FROM_SYNC_PULSE_IN,
+    TIME_FROM_PTP_1588,
+    TIME_FROM_ROS_TIME
+    }"/>
+  <arg name="ptp_utc_tai_offset" default="-37.0"
+    doc="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/>
+  <arg name="viz" default="true" doc="whether to run a rviz"/>
+  <arg name="rviz_config" default="$(find ouster_ros)/config/viz.rviz" doc="optional rviz config file"/>
+
+  <arg name="tf_prefix" default=" " doc="namespace for tf transforms"/>
+  <arg name="sensor_frame" default="os_sensor"
+    doc="sets name of choice for the sensor_frame tf frame, value can not be empty"/>
+  <arg name="lidar_frame" default="os_lidar"
+    doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
+  <arg name="imu_frame" default="os_imu"
+    doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
+  <arg name="point_cloud_frame" default=" "
+    doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
+
+  <arg name="dynamic_transforms_broadcast" default="false"
+    doc="static or dynamic transforms broadcast"/>
+  <arg name="dynamic_transforms_broadcast_rate" default="1.0"
+    doc="set the rate (Hz) of broadcast when using dynamic broadcast; minimum value is 1 Hz"/>
+
+  <arg name="proc_mask" default="IMG|PCL|IMU|SCAN" doc="
+    The IMG flag here is not supported and does not affect anything,
+    to disable image topics you would need to omit the os_image node
+    from the launch file"/>
+
+  <arg name="scan_ring" default="0" doc="
+    use this parameter in conjunction with the SCAN flag
+    and choose a value the range [0, sensor_beams_count)"/>
+
+  <arg name="point_type" default="original" doc="point type for the generated point cloud;
+   available options: {
+    original,
+    native,
+    xyz,
+    xyzi,
+    xyzir
+    }"/>
+
+  <group ns="$(arg ouster_ns)">
+    <node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
+      output="screen" required="true" args="manager"/>
+  </group>
+
+  <group ns="$(arg ouster_ns)">
+    <node pkg="nodelet" type="nodelet"
+      name="os_node" output="screen" required="true"
+      launch-prefix="bash -c 'sleep 3; $0 $@' "
+      args="load ouster_ros/OusterPcap os_nodelet_mgr">
+      <param name="~/metadata" value="$(arg metadata)"/>
+      <param name="~/pcap_file" value="$(arg pcap_file)"/>
+    </node>
+  </group>
+
+  <include file="$(find ouster_ros)/launch/common.launch">
+    <arg name="ouster_ns" value="$(arg ouster_ns)"/>
+    <arg name="viz" value="$(arg viz)"/>
+    <arg name="rviz_config" value="$(arg rviz_config)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
+    <arg name="sensor_frame" value="$(arg sensor_frame)"/>
+    <arg name="lidar_frame" value="$(arg lidar_frame)"/>
+    <arg name="imu_frame" value="$(arg imu_frame)"/>
+    <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
+    <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
+    <arg name="dynamic_transforms_broadcast"
+      value="$(arg dynamic_transforms_broadcast)"/>
+    <arg name="dynamic_transforms_broadcast_rate"
+      value="$(arg dynamic_transforms_broadcast_rate)"/>
+    <arg name="proc_mask" value="$(arg proc_mask)"/>
+    <arg name="scan_ring" value="$(arg scan_ring)"/>
+    <arg name="point_type" value="$(arg point_type)"/>
+  </include>
+
+
+</launch>

ouster_ros_nodelets.xml

@@ -9,6 +9,11 @@
       A nodelet that can load up existing Ouster recordings and replay them.
     </description>
   </class>
+  <class name="ouster_ros/OusterPcap" type="ouster_ros::OusterPcap" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that can directly load ouster sensor data from a pcap file.
+    </description>
+  </class>
   <class name="ouster_ros/OusterCloud" type="ouster_ros::OusterCloud" base_class_type="nodelet::Nodelet">
     <description>
       A nodelet that process incoming Ouster lidar packets and publishes a corresponding point cloud.

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.12.3</version>
+  <version>0.12.4</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>