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Ouster SDK - libraries and tools for Ouster Lidar Sensors

Cross-platform C++/Python Ouster Sensor Development Toolkit

To get started with our sensors, client, and visualizer, please see our SDK and sensor documentation:

• Ouster SDK Documentation
• Ouster Sensor Documentaion

This repository contains Ouster SDK source code for connecting to and configuring ouster sensors, reading and visualizing data, and interfacing with ROS.

• ouster_client contains an example C++ client for ouster sensors
• ouster_pcap contains C++ pcap functions for ouster sensors
• ouster_viz contains a customizable point cloud visualizer
• ouster_ros contains example ROS nodes for publishing point cloud messages
• python contains the code for the ouster sensor python SDK (ouster-sdk Python package)

License

BSD 3-Clause License, details

Additional changes (Yujun Lai)

• Modified timestamps so they rely on the ROS timestamp rather than time from sensor start. ROS timestamp based on ros master device's time.