I am experiencing a persistent issue with my OS1-128 sensor where the /ouster/scan topic generates “ghost” circular obstacles within a 5-meter radius, even in a clear and open environment. Based on observations in Rviz, it appears that the /ouster/scan data might be projecting points from the ground surface or internal reflections onto the 2D plane. Is this caused by the selection of a ring beam with a downward angle that scans the ground? I have attempted to modify the parameters in the driver.launch file, specifically the scan_ring parameter, but the circular “ring” of obstacles remains and does not change or disappear regardless of the values entered. Therefore, I would like to ask how this issue can be resolved.
You should set the scan_ring to be the around the middle of the beam count .. for example if you have 128 sensor you should set the scan_ring to be 63 or 64 and then the ring should appear in line with the point cloud.