feat(Ouster): implement nebula's Ouster port as a submodule

build_depends-humble.repos

@@ -12,3 +12,8 @@ repositories:
     type: git
     url: https://github.com/tier4/agnocast
     version: 2.3.1
+
+  ouster-sdk:
+    type: git
+    url: https://github.com/ouster-lidar/ouster-sdk.git
+    version: master

build_depends-jazzy.repos

@@ -3,3 +3,8 @@ repositories:
     type: git
     url: https://github.com/tier4/sync_tooling_msgs.git
     version: main
+
+  ouster-sdk:
+    type: git
+    url: https://github.com/ouster-lidar/ouster-sdk.git
+    version: master

src/nebula_ouster/README.md

@@ -0,0 +1,76 @@
+# Nebula ouster sensor package
+
+A minimal template sensor package for the Nebula LiDAR driver framework.
+
+## Purpose
+
+This package is a starting point for adding new sensor support to Nebula. It compiles, launches,
+and exercises the ROS packet/pointcloud pipeline with intentionally minimal behavior.
+
+The ouster decoder does not invent fake sensor geometry. It only counts packets, reports a scan
+boundary every 10 packets, and emits an empty pointcloud for that scan. Replace that logic with
+real packet parsing and scan-cutting for your sensor.
+
+## Package structure
+
+The ouster sensor consists of four packages:
+
+- **nebula_ouster_common** - Common definitions and configuration structures
+- **nebula_ouster_decoders** - Packet decoder and driver implementation
+- **nebula_ouster_hw_interfaces** - Hardware interface for sensor communication
+- **nebula_ouster** - ROS 2 wrapper and launch files
+
+## Building
+
+```bash
+colcon build --packages-up-to nebula_ouster
+```
+
+## Running
+
+```bash
+# Online mode (with hardware)
+ros2 launch nebula_ouster nebula_ouster.launch.xml
+# Offline mode (replay from rosbag)
+ros2 launch nebula_ouster nebula_ouster.launch.xml launch_hw:=false
+```
+
+## Using as a template
+
+For detailed instructions on how to use this package as a template for adding a new sensor, please refer to the [Integration guide](../../docs/integration_guide.md).
+
+The guide covers:
+
+1. Cloning and renaming the package
+2. Implementing sensor-specific logic
+3. Verifying the new implementation
+
+## Key components
+
+### Configuration (`*_common`)
+
+- `OusterSensorConfiguration` - Minimal sensor-specific settings for an IP-based sensor
+
+### Decoder (`*_decoders`)
+
+- `OusterDecoder` - Minimal decoder stub with packet counting and scan-boundary callbacks
+- `PacketDecodeResult` - Decoder output containing metadata/error and performance counters
+- `DecodeError` - Decoder error codes for packet handling failures
+
+### Hardware interface (`*_hw_interfaces`)
+
+- `OusterHwInterface` - Sensor communication interface
+
+### ROS wrapper
+
+- `OusterRosWrapper` - ROS 2 node wrapping the driver
+- Point cloud publisher on `/points`
+- Packet publish/replay topic on `/packets` (`nebula_msgs/msg/NebulaPackets`) depending on
+  runtime mode (`launch_hw` parameter)
+
+## Reference implementation
+
+This package provides a template structure for adding new sensor support. For complete examples,
+refer to existing sensor packages like `nebula_hesai` or `nebula_velodyne`.
+
+**For detailed integration instructions, see the [Integration guide](../../docs/integration_guide.md) in the documentation.**

src/nebula_ouster/nebula_ouster/CMakeLists.txt

@@ -0,0 +1,105 @@
+cmake_minimum_required(VERSION 3.20)
+project(nebula_ouster)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+# Ouster
+add_library(
+  ouster_ros_wrapper SHARED
+  src/ouster_ros_wrapper.cpp)
+
+set(_nebula_ouster_sdk_candidates
+  "${CMAKE_CURRENT_SOURCE_DIR}/../../../ouster-sdk"
+  "${CMAKE_CURRENT_SOURCE_DIR}/../../../dependency_ws/ouster-sdk"
+)
+
+set(_nebula_ouster_sdk "")
+foreach(_candidate IN LISTS _nebula_ouster_sdk_candidates)
+  if(EXISTS "${_candidate}/CMakeLists.txt")
+    set(_nebula_ouster_sdk "${_candidate}")
+    break()
+  endif()
+endforeach()
+
+if(_nebula_ouster_sdk STREQUAL "")
+  message(FATAL_ERROR
+    "nebula_ouster_decoders: ouster-sdk is missing. Checked: ${_nebula_ouster_sdk_candidates}")
+endif()
+
+set(BUILD_SENSOR ON CACHE BOOL "Ouster SDK: sensor module" FORCE)
+set(BUILD_PCAP OFF CACHE BOOL "Ouster SDK: pcap" FORCE)
+set(BUILD_OSF OFF CACHE BOOL "Ouster SDK: osf" FORCE)
+set(BUILD_VIZ OFF CACHE BOOL "Ouster SDK: visualizer" FORCE)
+set(BUILD_MAPPING OFF CACHE BOOL "Ouster SDK: mapping" FORCE)
+set(BUILD_TESTING OFF CACHE BOOL "Ouster SDK: tests" FORCE)
+set(BUILD_EXAMPLES OFF CACHE BOOL "Ouster SDK: examples" FORCE)
+set(BUILD_PYTHON_MODULE OFF CACHE BOOL "Ouster SDK: python" FORCE)
+
+add_subdirectory("${_nebula_ouster_sdk}" "${CMAKE_CURRENT_BINARY_DIR}/ouster-sdk-build")
+
+if(TARGET ouster_client)
+  target_compile_options(ouster_client PRIVATE -Wno-pedantic)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    target_compile_options(ouster_client PRIVATE -Wno-error=stringop-overflow)  # cspell:ignore stringop
+  endif()
+endif()
+if(TARGET ouster_sensor)
+  target_compile_options(ouster_sensor PRIVATE -Wno-pedantic)
+endif()
+
+target_include_directories(
+  ouster_ros_wrapper
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<BUILD_INTERFACE:${_nebula_ouster_sdk}/ouster_client/include/optional-lite>
+         $<BUILD_INTERFACE:${_nebula_ouster_sdk}/ouster_sensor/include>
+         $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(
+  ouster_ros_wrapper
+  PUBLIC diagnostic_updater::diagnostic_updater
+         nebula_ouster_decoders::nebula_ouster_decoders
+         nebula_ouster_hw_interfaces::nebula_ouster_hw_interfaces
+         nebula_core_ros::nebula_core_ros
+  PRIVATE ouster_client
+          ouster_sensor)
+ament_target_dependencies(
+  ouster_ros_wrapper
+  PUBLIC
+  diagnostic_msgs
+  nebula_msgs
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs)
+
+rclcpp_components_register_node(ouster_ros_wrapper PLUGIN "nebula::ros::OusterRosWrapper"
+                                EXECUTABLE ouster_ros_wrapper_node)
+
+install(
+  TARGETS ouster_ros_wrapper
+  EXPORT export_ouster_ros_wrapper
+  LIBRARY DESTINATION lib)
+install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION include/${PROJECT_NAME})
+
+install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_ouster_ros_wrapper)
+
+ament_export_dependencies(
+  diagnostic_msgs
+  diagnostic_updater
+  nebula_core_common
+  nebula_ouster_common
+  nebula_core_decoders
+  nebula_ouster_decoders
+  nebula_core_hw_interfaces
+  nebula_ouster_hw_interfaces
+  nebula_core_ros
+  nebula_msgs
+  rclcpp_components
+  sensor_msgs
+  std_msgs)
+
+ament_package()

src/nebula_ouster/nebula_ouster/config/ouster_sensor.param.yaml

@@ -0,0 +1,40 @@
+# Ouster Sensor ROS 2 Parameters
+# This file contains example parameters for the Ouster LiDAR sensor.
+# Copy and modify this file for your specific sensor model.
+
+/**:
+  ros__parameters:
+    # ROS wrapper configuration
+    sensor_model: OS0-64
+    launch_hw: true
+    frame_id: ouster_lidar
+    use_sensor_extrinsics: false
+
+    # Network configuration
+    connection:
+      sensor_ip: 169.254.119.211
+      host_ip: 169.254.242.38
+      data_port: 7502
+      filter_sender_ip: true
+
+    # Decoder configuration
+    fov:
+      azimuth:
+        min_deg: 0.0
+        max_deg: 360.0
+      elevation:
+        min_deg: -90.0
+        max_deg: 90.0
+
+    # Diagnostics configuration
+    diagnostics:
+      pointcloud_publish_rate:
+        frequency_ok:
+          min_hz: 9.0
+          max_hz: 11.0
+        frequency_warn:
+          min_hz: 8.0
+          max_hz: 12.0
+        num_frame_transition: 1
+      packet_liveness:
+        timeout_ms: 1000