sensor_drivers¶
Devices Pelorus talks to directly instead of subscribing to a topic. These deliver both a point cloud and IMU measurements over the same connection, so they cannot live under lidar or imu alone. A driver here only starts when lidar.driver.type or imu.driver.type selects it, and requires a build with the matching feature.
| Option | Default | Starter |
|---|---|---|
ouster |
||
hostname |
"os.local" |
|
metadata_path |
"" |
|
bind_address |
"0.0.0.0" |
|
lidar_port |
7502 |
|
imu_port |
7503 |
|
device_ip |
"" |
|
lidar_frame_id |
"os_sensor" |
|
imu_frame_id |
"os_imu" |
|
timestamp |
||
mode |
Ptp |
|
max_host_skew |
20ms |
|
startup_timeout |
15s |
sensor_drivers.ouster¶
sensor_drivers.ouster.hostname¶
Sensor hostname or address used only to read metadata over HTTP. The sensor must already be configured to send UDP data to this host.
sensor_drivers.ouster.metadata_path¶
Optional Ouster metadata JSON file. Empty fetches live metadata from hostname. A file is useful for deterministic replay and offline testing.
sensor_drivers.ouster.bind_address¶
Local receive address and the sensor's configured UDP destination ports.
sensor_drivers.ouster.lidar_port¶
Local receive address and the sensor's configured UDP destination ports.
Type: integer.
Minimum: 1 (inclusive).
Maximum: 65535 (inclusive).
sensor_drivers.ouster.imu_port¶
Local receive address and the sensor's configured UDP destination ports.
Type: integer.
Minimum: 1 (inclusive).
Maximum: 65535 (inclusive).
sensor_drivers.ouster.device_ip¶
Optional sender filter. Empty accepts Ouster packets from any address.
sensor_drivers.ouster.lidar_frame_id¶
Ouster points are transformed into the forward-left-up Sensor frame.
sensor_drivers.ouster.imu_frame_id¶
Ouster points are transformed into the forward-left-up Sensor frame.
sensor_drivers.ouster.timestamp¶
sensor_drivers.ouster.timestamp.mode¶
Ptp requires TIME_FROM_PTP_1588 sensor configuration and validates sensor timestamps against host UTC. Host preserves relative sensor timing while anchoring each scan or IMU packet at receive time.
Accepted values: ptp, host
Accepted values are case-insensitive.
sensor_drivers.ouster.timestamp.max_host_skew¶
Largest accepted difference between sensor UTC and host UTC in Ptp mode.
Type: time.
Minimum: 0s (exclusive).
sensor_drivers.ouster.timestamp.startup_timeout¶
How long to wait for usable packets before giving up. If the clock mode above cannot be satisfied, Pelorus fails startup and says so.
Type: time.
Minimum: 0s (exclusive).