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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
134 stars 79 forks source link

Release as apt package #122

Closed greinet closed 1 year ago

greinet commented 1 year ago

Hello,

we are currently using the ros2 branch on a machine running ROS2 Foxy without any problems. We saw that the driver was formerly published as apt package and maintained on the ROS index. Is there any reason the driver isn't maintained and published anymore outside of GitHub? (Or is it and I just haven't found it?) Also is the ros2 branch meant as rolling branch or is it just the general branch for any ROS2 distro?

SteveMacenski commented 1 year ago

Binaries are indeed available for this package on Foxy https://github.com/ros/rosdistro/blob/master/foxy/distribution.yaml#L5221

It may say https://github.com/SteveMacenski/ros2_ouster_drivers.git due to where it used to be located, but the binaries are tip top.

The "gotcha" here is that you have to use the firmware versions (I believe 1.x for Foxy) that were available when Foxy was released since Ouster doesn't make their firmwares and clients backward compatible. If you want to use the newest firmwares and such, then yes, you'll have to build from source because once we release to a distribution, things are frozen unless its ABI compatible with previous firmware / client versions.

greinet commented 1 year ago

Alright, thanks a lot for the quick reply. I didn't know about the backwards compatibility part, thanks for clarifying.