Ouster Lidar works in simulation, nr of channels lowered since the si…

…mulation could not handle 128 channels ('Extrapolation Error looking up target frame')

ros2_ws/src/rcdt_launch/rcdt_launch/robot.py

@@ -90,7 +90,16 @@ def order_platforms() -> None:
         Raises:
             ValueError: If an unknown platform is encountered.
         """
-        order = ["panther", "franka", "velodyne", "ouster", "realsense", "zed", "nmea", "axis"]
+        order = [
+            "panther",
+            "franka",
+            "velodyne",
+            "ouster",
+            "realsense",
+            "zed",
+            "nmea",
+            "axis",
+        ]
 
         for platform in Platform.platforms:
             if platform.platform not in order:
@@ -296,7 +305,14 @@ def create_map_links() -> list[Node]:
     def __init__(  # noqa: PLR0913
         self,
         platform: Literal[
-            "panther", "franka", "velodyne", "ouster", "realsense", "zed", "nmea", "axis"
+            "panther",
+            "franka",
+            "velodyne",
+            "ouster",
+            "realsense",
+            "zed",
+            "nmea",
+            "axis",
         ],
         position: list,
         orientation: list | None = None,
@@ -766,15 +782,14 @@ def create_ouster_launch(self) -> RegisteredLaunchDescription:
         else:
             target_frame = f"{self.namespace}/base_link"
 
-        # return RegisteredLaunchDescription(
-        #     get_file_path("rcdt_sensors", ["launch"], "ouster.launch.py"),
-        #     launch_arguments={
-        #         "simulation": str(Platform.simulation),
-        #         "namespace": self.namespace,
-        #         "target_frame": target_frame,
-        #     },
-        # )
-        pass  # TODO: create/adjust commented launch file
+        return RegisteredLaunchDescription(
+            get_file_path("rcdt_sensors", ["launch"], "ouster.launch.py"),
+            launch_arguments={
+                "simulation": str(Platform.simulation),
+                "namespace": self.namespace,
+                "target_frame": target_frame,
+            },
+        )
 
 
 class Arm(Platform):

ros2_ws/src/rcdt_sensors/launch/ouster.launch.py

@@ -0,0 +1,74 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+from launch import LaunchContext, LaunchDescription
+from launch.actions import OpaqueFunction
+from launch_ros.actions import Node
+from rcdt_utilities.launch_utils import SKIP, LaunchArgument, get_file_path
+from rcdt_utilities.register import Register
+
+use_sim_arg = LaunchArgument("simulation", True, [True, False])
+namespace_arg = LaunchArgument("namespace", "ouster")
+target_frame_arg = LaunchArgument("target_frame", "")
+
+
+def launch_setup(context: LaunchContext) -> list:
+    """Setup the launch description for the realsense camera.
+
+    Args:
+        context (LaunchContext): The launch context.
+
+    Returns:
+        list: A list of actions to be executed.
+    """
+    use_sim = use_sim_arg.bool_value(context)
+    namespace = namespace_arg.string_value(context)
+    target_frame = target_frame_arg.string_value(context)
+
+    frame_prefix = namespace + "/" if namespace else ""
+
+    ouster_driver_node = None  # Insert Ouster driver node
+
+    ouster_transform_node = None  # Insert Ouster transform pointcloud node
+
+    pointcloud_to_laserscan_node = Node(
+        package="pointcloud_to_laserscan",
+        executable="pointcloud_to_laserscan_node",
+        remappings=[
+            ("cloud_in", f"/{namespace}/scan/points"),
+            ("scan", f"/{namespace}/scan"),
+        ],
+        parameters=[
+            {
+                "target_frame": target_frame,
+                "min_height": 0.1,
+                "max_height": 2.0,
+                "range_min": 0.05,
+                "range_max": 90.0,
+            }
+        ],
+        namespace=namespace,
+    )
+
+    return [
+        # Register.on_start(ouster_driver_node, context) if not use_sim else SKIP,
+        # Register.on_start(ouster_transform_node, context) if not use_sim else SKIP,
+        Register.on_start(pointcloud_to_laserscan_node, context),
+    ]
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate the launch description for the realsense camera.
+
+    Returns:
+        LaunchDescription: The launch description for the realsense camera.
+    """
+    return LaunchDescription(
+        [
+            use_sim_arg.declaration,
+            namespace_arg.declaration,
+            OpaqueFunction(function=launch_setup),
+        ]
+    )

ros2_ws/src/rcdt_sensors/urdf/rcdt_os1_128.urdf.xacro

@@ -24,7 +24,7 @@ Based on:
     parent
     name:=ouster
     update_rate:=10 
-    lasers:=128 
+    lasers:=12 
     samples:=1024 
     min_range:=0.5
     max_range:=90.0