ouster-32激光雷达使用---设备连接的网络配置

查看雷达IP

将电脑wifi关闭

用avahi-browse命令查询雷达IP

avahi-browse -lr _roger._tcp
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终端返回结果如下

+ enp0s31f6 IPv6 Ouster Sensor 122237000064                    _roger._tcp          local
+ enp0s31f6 IPv4 Ouster Sensor 122237000064                    _roger._tcp          local
= enp0s31f6 IPv4 Ouster Sensor 122237000064                    _roger._tcp          local
   hostname = [os-122237000064.local]
   address = [169.254.206.201]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.3.1+20220608012528.patch-v2.3.x" "sn=122237000064" "pn=840-103575-06"]
= enp0s31f6 IPv6 Ouster Sensor 122237000064                    _roger._tcp          local
   hostname = [os-122237000064.local]
   address = [fe80::be0f:a7ff:fe00:6ab4]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.3.1+20220608012528.patch-v2.3.x" "sn=122237000064" "pn=840-103575-06"]
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可以看到 IPv4 的
hostname = os-122237000064.local
address = [169.254.206.201]

所以雷达的IP地址就是 169.254.206.201

查询出雷达IPv4地址后，如果电脑IP与雷达IP不在同一个网段，此时电脑还不能连接上雷达（ping通雷达IP），这样的话无法通过电脑对雷达进行任何参数查询和设置。因此，有时候需要修改电脑网卡IP使其与雷达同一个网段。

下面就可以将计算机的IP地址设置为同一网段

修改好后，ping一下雷达的IP，确保能ping通。

jk-jone@JKKC:~$ ping 169.254.206.201
PING 169.254.206.201 (169.254.206.201) 56(84) bytes of data.
64 字节，来自 169.254.206.201: icmp_seq=1 ttl=64 时间=0.460 毫秒
64 字节，来自 169.254.206.201: icmp_seq=2 ttl=64 时间=0.197 毫秒
64 字节，来自 169.254.206.201: icmp_seq=3 ttl=64 时间=0.199 毫秒
64 字节，来自 169.254.206.201: icmp_seq=4 ttl=64 时间=0.194 毫秒
64 字节，来自 169.254.206.201: icmp_seq=5 ttl=64 时间=0.192 毫秒
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此时说明雷达与PC的网络通信正常

注意：如果IP修改后发现IP网段与电脑无线网卡的IP也在一个网段里，那就会引起混淆，此时请暂时关闭无线网卡功能

尝试运行驱动包

此时可以尝试运行驱动包了

直接运行传感器的模式

roslaunch ouster_ros sensor.launch  sensor_hostname:='169.254.206.201'
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rviz打开后需要等一会

[ INFO] [1669627967.501012959]: Initializing nodelet with 8 worker threads.
[ INFO] [1669627968.494939285]: Loading nodelet /ouster/os_node of type nodelets_os/OusterSensor to manager os_nodelet_mgr with the following remappings:
[ INFO] [1669627968.508352449]: Will use automatic UDP destination
[ INFO] [1669627969.498218051]: Loading nodelet /ouster/os_cloud_node of type nodelets_os/OusterCloud to manager os_nodelet_mgr with the following remappings:
[ INFO] [1669627969.499452510]: Loading nodelet /ouster/img_node of type nodelets_os/OusterImage to manager os_nodelet_mgr with the following remappings:
[ INFO] [1669627970.586424848]: rviz version 1.14.19
[ INFO] [1669627970.586450891]: compiled against Qt version 5.12.8
[ INFO] [1669627970.586455138]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1669627970.592399144]: Forcing OpenGl version 0.
[ INFO] [1669627970.713818883]: Stereo is NOT SUPPORTED
[ INFO] [1669627970.713859467]: OpenGL device: Mesa Intel(R) Xe Graphics (TGL GT2)
[ INFO] [1669627970.713870667]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ WARN] [1669627970.786661807]: Sensor 169.254.206.201 configured successfully
[ INFO] [1669627970.787862152]: Starting sensor 169.254.206.201 initialization...
[2022-11-28 17:32:50.787] [ouster::sensor] [info] initializing sensor: 169.254.206.201 with ports: 0/0
[ WARN] [1669627997.923285255]: Client version: 0.7.1b1+279c9fb-release
[ WARN] [1669627997.923338213]: Using lidar_mode: 1024x10
[ WARN] [1669627997.923355327]: OS-1-32-U2 sn: 122237000064 firmware rev: v2.3.1
[ WARN] [1669627997.924480485]: No metadata file was specified, using: 169.254.206-metadata.json
[ INFO] [1669627997.924734487]: Wrote metadata to 169.254.206-metadata.json
[ INFO] [1669627997.925563194]: get_metadata service created
[ INFO] [1669627997.926338810]: get_config service created
[ INFO] [1669627997.926997379]: set_config service created
[ INFO] [1669627997.931208809]: OusterCloud: retrieved sensor metadata!
[ INFO] [1669627997.931404649]: Profile has 1 return(s)
[ INFO] [1669627997.940645619]: OusterImage: retrieved sensor metadata!
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rviz显示

修改雷达IP为静态IP

此时还没完，因为刚查的雷达IP为动态IP。每次上电后有可能会变，到时候需要再查询，然后再改驱动的启动指令，会非常的不方便。

因此需要下面的工作，将雷达的IP改为静态IP，即每次上电雷达的IP不变

两次上电 ，雷达的IP不一致

jk-jone@JKKC:~$ avahi-browse -lr _roger._tcp
+ enp0s31f6 IPv6 Ouster Sensor 122237000064                    _roger._tcp          local
+ enp0s31f6 IPv4 Ouster Sensor 122237000064                    _roger._tcp          local
= enp0s31f6 IPv6 Ouster Sensor 122237000064                    _roger._tcp          local
   hostname = [os-122237000064.local]
   address = [fe80::be0f:a7ff:fe00:6ab4]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.3.1+20220608012528.patch-v2.3.x" "sn=122237000064" "pn=840-103575-06"]
= enp0s31f6 IPv4 Ouster Sensor 122237000064                    _roger._tcp          local
   hostname = [os-122237000064.local]
   address = [169.254.221.198]
   port = [7501]
   txt = ["fw=ousteros-image-prod-aries-v2.3.1+20220608012528.patch-v2.3.x" "sn=122237000064" "pn=840-103575-06"]
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需要先安装一个httpie组件来实现雷达IP设置。为此，先确保Ubuntu电脑连上外网，然后可以通过下面的命令来实现安装：

sudo apt install -y httpie
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注意下面的操作和官网不一致，官网有坑啊https://ouster.atlassian.net/servicedesk/customer/portal/8/article/831062017
唯一不同就是将后面的反斜杠去掉.

验证该IP是否为静态IP，命令行输入

#http http://雷达.当前.IP.地址/api/v1/system/network/ipv4/override
http http://169.254.206.201/api/v1/system/network/ipv4/override
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jk-jone@JKKC:~$ http http://169.254.206.201/api/v1/system/network/ipv4/override
HTTP/1.1 200 OK
content-length: 4
content-type: application/json

null
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这里的null是 非静态ip
修改为静态IP的指令如下：

echo \"196.168.1.198/24\" | http PUT http://169.254.206.201/api/v1/system/network/ipv4/override
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终端输出：

jk-jone@JKKC:~$ echo \"196.168.1.198/24\" | http PUT http://169.254.206.201/api/v1/system/network/ipv4/override
HTTP/1.1 200 OK
content-length: 18
content-type: application/json

"196.168.1.198/24"
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证明静态IP配置成功

上面命令中“24”是给雷达设置的子网掩码（subnet mask），在这里24=255.255.255.0. 这个子网掩码是最常使用的，当然某些特殊情况下子网掩码可能需要设置为255.255.0.0, 这时可以将24改成16即可。上图中命令执行后的结果中显示有 “OK”，表明设置成功了。

注意：雷达IP设置成功后需要重启雷达才能生效。另外，如果新的IP与老IP不在一个网段内，电脑后续如果需要继续连接雷达，那还需要同样修改网卡的IP。

再次重启雷达，通过

avahi-browse -lr _roger._tcp
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即可看到ip为刚才设置的固定IP

注意修改雷达的IP后，需要再次配置电脑的IP为同一网段。

之后便可以每次以

roslaunch ouster_ros sensor.launch  sensor_hostname:='196.168.1.198'
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指令进行驱动开启了。