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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
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Support for FW v3.0.1 #133

Open doisyg opened 1 year ago

doisyg commented 1 year ago

FYI Just received a OS-Dome-128 with FW v3.0.1, I did not investigate more but it seems to introduce the API breaking changes (https://static.ouster.dev/sdk-docs/migration/migration-20220927-20230114.html) as I tried to spin the driver and got the following error:

[ouster_driver-1] [INFO] [1680528243.060029191] [ouster_driver]: Configuring Ouster driver node. [ouster_driver-1] [INFO] [1680528243.060083385] [ouster_driver]: Connecting to sensor at fe80::be0f:a7ff:fe00:8fa0%enx0826ae385f55. [ouster_driver-1] [INFO] [1680528243.060088487] [ouster_driver]: Sending data from sensor to fe80::6ef0:f1c5:7b20:f276. [ouster_driver-1] WARNING: No lidar_origin_to_beam_origin_mm found. [ouster_driver-1] [INFO] [1680528262.668690314] [ouster_driver]: This driver is compatible with sensors running fw 2.2-2.4 [INFO] [launch.user]: [LifecycleLaunch] Ouster driver node is activating. [ouster_driver-1] [INFO] [1680528262.693341754] [ouster_driver]: Activating Ouster driver node. [ouster_driver-1] Unexpected udp packet length: 24832 [ouster_driver-1] Unexpected udp packet length: 24832 [ouster_driver-1] Unexpected udp packet length: 24832 [ouster_driver-1] Unexpected udp packet length: 24832

See new compatibility table: https://static.ouster.dev/sdk-docs/index.html SDK Tag (Release) / Python SDK FW 1.13 FW 2.0 FW 2.1 FW 2.2 FW 2.3 FW 2.4 FW 3.0
C++ SDK 20230114 / Python SDK 0.7.1 no yes yes yes yes yes yes
C++ SDK 20220927 / Python SDK 0.5.2 no yes yes yes yes yes no
C++ SDK 20220826 / Python SDK 0.5.1 no yes yes yes yes yes no
C++ SDK 20220608 / Python SDK 0.4.1 yes yes yes yes yes no no
C++ SDK 20220504 / Python SDK 0.4.0 yes yes yes yes yes no no
C++ SDK 20220107 / Python SDK 0.3.0 yes yes yes yes no no no
C++ SDK 20210608 / Python SDK 0.2.1 yes yes yes no no no no
C++ SDK 20201209 / n/a yes yes yes no no no no
C++ SDK v1.13.0 / n/a yes no no no no no no
SteveMacenski commented 1 year ago

No big surprise - they don't seem to think about backward compatibility in the client side. There would need to be an update to the client code to support a new major release