Ouster pcap to rosbag tool

This tool converts Ouster pcaps to rosbags containg only the packets in the /os_node/lidar_packets and /os_node/imu_packets topics.

If you would like PointCloud2 msgs you will need to run the resulting bagfile through the ouster_ros node and record the /os_cloud_node/points topic.

Requirements

• libpcap-dev
• libtins-dev

Install requirements prior to building using the command below.

 sudo apt install libpcap-dev libtins-dev

Building

You will create a new catkin workspace and link both the ouster_example and pcap-to-bag code repos. The code repos can live anywhere on your machine, just make sure to use absolute paths like /home/user/pcap-to-bag and do not use relative paths such as ~/pcap-to-bag

NOTE: You must use ouster_example at tag 20210608

• mkdir -p myworkspace/src
• cd myworkspace
• ln -s /path/to/ouster_example ./src/
• ln -s /path/to/pcap-to-bag ./src/
• catkin_make -DCMAKE_BUILD_TYPE=Release

Running

• After building, the pcap_to_bag executable will be in this folder: myworkspace/devel/lib/pcap_to_bag/
• You can run ./pcap_to_bag name_of_pcap.pcap name_of_bag.bag lidar_payload_size_bytes
• e.g. for a 128 channel sensor in udp_profile_lidar=RNG15_RFL8_NIR8 ./pcap_to_bag my.pcap my.bag 8448
• Reference the user manual for calculating the lidar_payload_size.