Add support for Ouster Lidars

[Samahu]

PR Type

• New Feature

Related Links

Closes #212

Description

The PR adds support for all current generation Ouster Lidars running FW 2.2 through 3.2

Review Procedure

• To make things simple I have copied the needed sdk client files directly into the PR body rather than using git submodules if this isn't desired let me know.
• You can build the branch using the following command:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --packages-up-to nebula_ouster

• Edit the provided sensor_model.param.yaml and set the sensor_ip and dest_ip to match your environment
• Launch the sensor using the command

ros2 launch nebula_ouster ouster_launch_all_hw.xml sensor_model:=ouster_sensor

Remarks

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[Samahu]

Here is the Lidar Stream coming from an OS-DOME lidar sensor

Another steam OS-64

[Samahu]

I am seeing some automated CI failures which I will try to address ASAP. Let me know if you have any other feedback that you would like me to address other than the CI failures.

[mojomex]

@Samahu Hey, thank you for the PR!

Since the SDK is quite big, I'd actually prefer it being a submodule (or if it's locatable by colcon, an entry in build_depends-*.repos).

Having it in the source tree directly makes it harder to update/keep in sync with the upstream as there's no direct Git relationship between them anymore.

If you can provide a rosbag with packets or a PCAP, I'll test the PR once the above changes are done.

Cheers!