Re: Ouster standalone?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Ouster-standalone-tp10223p10238.html

I looked more in depth and realized that ouster_example is not a ros package anymore (all ros stuff moved to ouster_ros) but a standalone c++ library to access the ouster.

This client_example requires a sensor to test with. However, this lidar_scan_example uses PCAP + JSON inputs. I could start integrating "lidar_scan_example". It seems I can download some PCAP and JSON files from the examples here https://static.ouster.dev/sensor-docs/#sample-data, IMU data seem also available from the PCAP files.

As a side note, they integrated KISS-ICP to their sdk: https://static.ouster.dev/sdk-docs/python/slam-api-example.html, don't know if it could be any help for you. I may integrate KISS-ICP to rtabmap, based on the ros example, it seems easy to integrate! Added feature-request here.

cheers,
Mathieu