feat(ouster): add native Ouster lidar driver

.gitignore

@@ -43,3 +43,13 @@ CMakeLists.txt.user
 
 # pre-commit
 node_modules/
+
+# Local notes / scratch files
+claude.txt
+
+# Pasted screenshots and videos used for debugging
+Pasted image*.png
+Pasted image*.jpg
+*.MOV
+*.mov
+*.mp4

README.md

@@ -19,6 +19,7 @@ Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](
   - [Quick start](#quick-start)
   - [Agnocast](#agnocast)
   - [Building only specific vendors](#building-only-specific-vendors)
+  - [Ouster](#ouster)
   - [Migration to Nebula 0.3.0](#migration-to-nebula-030)
 
 ## Documentation
@@ -178,8 +179,37 @@ Available vendor packages are:
 - `nebula_hesai` - Hesai LiDARs (Pandar series, AT128, OT128, etc.)
 - `nebula_velodyne` - Velodyne LiDARs (VLP-16, VLP-32, VLS-128)
 - `nebula_robosense` - Robosense LiDARs (Bpearl, Helios)
+- `nebula_ouster` - Ouster LiDARs (OS0, OS1, OS2 — all beam counts; native decoder, no external SDK)
 - `nebula_continental` - Continental radars (ARS548, SRR520)
 
+## Ouster
+
+The `nebula_ouster` package is a native Nebula driver for Ouster OS-0 / OS-1 / OS-2 sensors
+(any beam count, including OS-128). It decodes Ouster UDP packets directly and does not depend
+on `ouster-sdk`.
+
+Setup steps:
+
+1. Build the package:
+
+   ```bash
+   colcon build --packages-up-to nebula_ouster --cmake-args -DCMAKE_BUILD_TYPE=Release
+   ```
+
+2. Edit `src/nebula_ouster/nebula_ouster/config/ouster_sensor.param.yaml` and set
+   `connection.sensor_ip` and `connection.host_ip` to match your environment. Update
+   `frame_id` if needed.
+
+3. Launch:
+
+   ```bash
+   ros2 launch nebula_ouster ouster_launch_all_hw.xml
+   ```
+
+The decoder publishes point clouds on `/points`, IMU samples on `/imu`, and raw packets on
+`/packets`. For offline rosbag replay without the sensor, set `metadata_file` to a cached
+metadata JSON path and launch with `launch_hw:=false`.
+
 ## Migration to Nebula 0.3.0
 
 Version 0.3.0 separates vendor-specific functionality into individual packages. This allows users

src/nebula/package.xml

@@ -13,6 +13,7 @@
 
   <depend>nebula_continental</depend>
   <depend>nebula_hesai</depend>
+  <depend>nebula_ouster</depend>
   <depend>nebula_robosense</depend>
   <depend>nebula_velodyne</depend>
 

src/nebula_ouster/README.md

@@ -0,0 +1,62 @@
+# Nebula Ouster sensor package
+
+Native Nebula driver for Ouster LiDAR sensors (OS-0 / OS-1 / OS-2 at 32, 64, or 128 beams).
+The driver decodes Ouster UDP packets directly — it does **not** depend on `ouster-sdk`.
+
+## Features
+
+- Native packet parsing for the `RNG19_RFL8_SIG16_NIR16` (single return),
+  `RNG19_RFL8_SIG16_NIR16_DUAL` (dual return), and `LEGACY` UDP profiles.
+- Dual return support — points from both returns are published with the correct `return_type`
+  field (`FIRST` and `LAST`).
+- IMU output — Ouster IMU packets (~100 Hz) are decoded and published as `sensor_msgs/Imu`.
+- Metadata caching — sensor metadata JSON can be cached to a file so offline rosbag replay
+  does not require the sensor to be reachable.
+- No external SDK dependencies; uses only Nebula's built-in HTTP and UDP clients.
+
+## Package structure
+
+The driver is split into the four standard Nebula sub-packages:
+
+- **nebula_ouster_common** — sensor configuration structs
+- **nebula_ouster_decoders** — packet parsing, XYZ lookup, metadata JSON parsing
+- **nebula_ouster_hw_interfaces** — UDP receive socket wrapper
+- **nebula_ouster** — ROS 2 wrapper node, launch files, diagnostics
+
+## Building
+
+```bash
+colcon build --packages-up-to nebula_ouster
+```
+
+## Running
+
+Edit `config/ouster_sensor.param.yaml` and set `connection.sensor_ip` and `connection.host_ip`
+to match your network. Then:
+
+```bash
+# Live hardware
+ros2 launch nebula_ouster ouster_launch_all_hw.xml
+
+# Offline replay (uses cached metadata_file; subscribes to NebulaPackets on the 'packets' topic)
+ros2 launch nebula_ouster ouster_launch_all_hw.xml launch_hw:=false
+```
+
+## Topics
+
+| Topic | Type | Description |
+|-------|------|-------------|
+| `points` | `sensor_msgs/PointCloud2` | Decoded point cloud (`PointXYZIRCAEDT`) |
+| `imu` | `sensor_msgs/Imu` | IMU sample (~100 Hz) |
+| `packets` | `nebula_msgs/NebulaPackets` | Raw packet stream for rosbag recording |
+
+## Parameters
+
+See `config/ouster_sensor.param.yaml` for the full list. Key parameters:
+
+- `connection.sensor_ip` / `connection.host_ip` / `connection.data_port`
+- `connection.imu_port` — dedicated UDP socket for IMU packets (set to 0 to disable)
+- `launch_hw` — `true` for live hardware, `false` for rosbag replay via `NebulaPackets`
+- `metadata_file` — optional cache path; enables offline replay without the sensor
+- `fov.azimuth.min_deg` / `max_deg`, `fov.elevation.min_deg` / `max_deg` — FoV crop
+- `frame_id` — TF frame used for the point cloud and IMU topics

src/nebula_ouster/nebula_ouster/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.20)
+project(nebula_ouster)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+add_library(
+  ouster_ros_wrapper SHARED
+  src/ouster_ros_wrapper.cpp)
+
+target_include_directories(
+  ouster_ros_wrapper
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(
+  ouster_ros_wrapper
+  PUBLIC diagnostic_updater::diagnostic_updater
+         nebula_ouster_decoders::nebula_ouster_decoders
+         nebula_ouster_hw_interfaces::nebula_ouster_hw_interfaces
+         nebula_core_ros::nebula_core_ros)
+ament_target_dependencies(
+  ouster_ros_wrapper
+  PUBLIC
+  diagnostic_msgs
+  nebula_msgs
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs)
+
+rclcpp_components_register_node(ouster_ros_wrapper PLUGIN "nebula::ros::OusterRosWrapper"
+                                EXECUTABLE ouster_ros_wrapper_node)
+
+install(
+  TARGETS ouster_ros_wrapper
+  EXPORT export_ouster_ros_wrapper
+  LIBRARY DESTINATION lib)
+install(DIRECTORY include/${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 +1,46 @@
+# Ouster Sensor ROS 2 Parameters
+# Example configuration for an OS-128. Adjust `connection.*` and `frame_id` to match your setup.
+
+/**:
+  ros__parameters:
+    # ROS wrapper configuration
+    sensor_model: OS-128
+    launch_hw: true
+    frame_id: ouster_lidar
+
+    # Optional: cache sensor metadata JSON. When launch_hw is true and this path is set,
+    # the wrapper saves metadata fetched via HTTP here. When launch_hw is false, it loads
+    # metadata from this file instead of contacting the sensor. Leave empty to always use HTTP.
+    metadata_file: ""
+
+    # Network configuration. `data_port` 7502 is the Ouster default for lidar data; the sensor
+    # also sends IMU packets to the same port.
+    connection:
+      sensor_ip: 192.168.1.201
+      host_ip: 192.168.1.100
+      data_port: 7502
+      # Set to 0 to disable the separate IMU socket. Ouster's factory default is 7503.
+      imu_port: 7503
+      filter_sender_ip: true
+
+    # Decoder configuration — points outside this azimuth/elevation range are filtered out.
+    fov:
+      azimuth:
+        min_deg: 0.0
+        max_deg: 360.0
+      elevation:
+        min_deg: -45.0
+        max_deg: 45.0
+
+    # 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