Ouster LiDAR Plugin
===================

The Ouster plugin provides driver support for Ouster OS-1 series LiDAR sensors, enabling point cloud and IMU data acquisition.

Overview
--------

The Ouster plugin connects to Ouster LiDAR sensors over Ethernet, streaming point cloud and IMU data at configurable rates. It supports various resolution and scan rate modes.

Supported Sensors
^^^^^^^^^^^^^^^^^

* Ouster OS-1-32 (32 scan lines)

Configuration
-------------

Configuration File
^^^^^^^^^^^^^^^^^^

Location: ``raisin_ouster_plugin/config/ouster32.yaml``

.. code-block:: yaml

    sensor_hostname: "169.254.16.143"
    lidar_mode: "1024x10"
    lidar_port: 0
    imu_port: 0
    sensor_frame: "os_sensor"
    lidar_frame: "os_lidar"
    imu_frame: "os_imu"
    publish_rate: 10.0

Parameter Reference
^^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 25 15 15 45

   * - Parameter
     - Type
     - Default
     - Description
   * - sensor_hostname
     - string
     - "169.254.16.143"
     - IP address of the Ouster sensor
   * - lidar_mode
     - string
     - "1024x10"
     - Resolution and scan rate
   * - lidar_port
     - int
     - 0
     - LiDAR data port (0 = auto-detect)
   * - imu_port
     - int
     - 0
     - IMU data port (0 = auto-detect)
   * - sensor_frame
     - string
     - "os_sensor"
     - TF frame ID for sensor
   * - lidar_frame
     - string
     - "os_lidar"
     - TF frame ID for LiDAR
   * - imu_frame
     - string
     - "os_imu"
     - TF frame ID for IMU
   * - publish_rate
     - double
     - 10.0
     - Output publishing rate (Hz)

LiDAR Modes
^^^^^^^^^^^

The ``lidar_mode`` parameter controls resolution and scan rate:

.. list-table::
   :header-rows: 1
   :widths: 30 35 35

   * - Mode
     - Resolution
     - Scan Rate
   * - 512x10
     - 512 columns
     - 10 Hz
   * - 512x20
     - 512 columns
     - 20 Hz
   * - 1024x10
     - 1024 columns
     - 10 Hz
   * - 1024x20
     - 1024 columns
     - 20 Hz
   * - 2048x10
     - 2048 columns
     - 10 Hz

Message Topics
--------------

Publishers
^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 30 30 40

   * - Topic
     - Type
     - Description
   * - /ouster/points
     - sensor_msgs/PointCloud2
     - Raw LiDAR point cloud
   * - /ouster/imu
     - sensor_msgs/Imu
     - IMU measurements

Usage
-----

Network Setup
^^^^^^^^^^^^^

1. Connect Ouster sensor to your computer via Ethernet
2. Configure your network interface to be on the same subnet as the sensor
3. Default sensor IP is typically ``169.254.x.x`` (link-local)

Loading the Plugin
^^^^^^^^^^^^^^^^^^

Add to your ``params.yaml``:

.. code-block:: yaml

    plugin:
      raisin_ouster_plugin:
        rate: 10

Verifying Connection
^^^^^^^^^^^^^^^^^^^^

Check that point clouds are being published using ``raisin_cli`` (see :ref:`using-raisin-cli` for details):

.. code-block:: bash

    # In raisin_cli
    list                    # Check available servers and get server_id
    con <server_id>         # Connect using server_id from list output
    list                    # List all available topics
    sub <topic> <time>      # e.g., sub /ouster/points 10