How to integrate Velodyne VLC 32 and Ouster OS1 64 Lidar into Autoware Universe

[futurenowx]

Hi,

1. I installed Autoware Universe on Ubuntu 22.04 and ROS2 Humble.
2. I installed the Velodyne ROS2 drivers and i can run the Velodyne Lidar and see the Pointcloud in RVIZ2

but i have no idea how to intergrate it into Autoware. I read the articles in the docu.

1. which config file should i use
2. where do i find it
3. how to update it
4. how to run the Lidar then in Autoware

How todo it with the Ouster OS1 64 Lidar, did the same procedure for Ouster like the Velodyne.

Thx for your great support

[amadeuszsz]

Hi @futurenowx,

Please, follow this instruction. The only one thing is Nebula driver doest not support Ouster sensors yet. You can look for available Ouster ROS 2 sensor drivers and setup your own sensor kit package where you will launch vendor's driver. Just remember Autoware requires specific data structure to works properly.

[futurenowx]

Thx a lot will try and come back to you

[futurenowx]

Thx a lot will try and come back to you

[marioney]

Hi @amadeuszsz

I'm using an ouster 128 with autoware.

I'm using the official ouster ros2 driver and as @futurenowx mentioned, a point type adapter is also required. I'm using this package

[amadeuszsz]

Hi @marioney,

Then you have done most of the work. Now you need to setup lidar.launch.xml in your own sensor kit launch repository.

[marioney]

Thanks. I was just wondering if I can avoid using the point_type_converter. Afaik, ouster supports xyzir

From their readme:

xyzir: same as xyzi type but adds ring (channel) field. this type is same as Velodyne point cloud type this type is not compatible with the low data profile.

Do you know if that point type works with autoware, or should I stay with the converter?

[futurenowx]

Thx a lot will try and come back to you