Enabling sensor re-connection in "ouster-ros" driver

Software
1

Starting with version 0.12.6 for ROS1 and version 0.12.7 for the ROS2 branch the ouster-ros driver supports automatic sensor re-connection, which allows users to:

  • start up the driver before booting up the sensor
  • recover connection to the sensor after connection was dropped (wire disconnected)
  • recover connection to the sensor after sensor power cycle
    :information_source: In case this case the driver will reset configuration to persisted config

To enable this feature set the attempt_reconnect ros launch parameter to true (disabled by default). To have control some control over the frequency of attempts users can make uses of the two additional params:

  • dormant_period_between_reconnects: time to wait between reconnect attempts, default is 1.0 second
  • max_failed_reconnect_attempts: maximum reconnect attempts, default is 2147483647

Here few of demos of how this feature works

  • auto reconnect after wire was disconnected
  • change config via /ouster/set_config service call, then power cycle the sensor
  • change the sensor configuration via the sensor config page
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