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LiDAR Settings (Raivin-only)

This page configures the LiDAR publishing service that interacts with the Raivin's integrated Ouster OS1-64 LiDAR sensor. The configuration allows for fine-tuning of the LiDAR sensor's operation and data processing.

LiDAR Settings page
LiDAR Settings page

Tip

These values are stored in the /etc/default/lidarpub file on the device and can be hand-edited. This is not recommended.

Log Level

Log level for the application, relevant sub-filters are 'lidarpub' and 'ouster'. Refer to RUST_LOG documentation for details. Options are 'info', 'debug', 'warn', and 'error'.

Zenoh Wait Before Drop (μs)

Microsecond timeout before dropping a Zenoh message. The default value of 100000 (100ms) is optimized for 10Hz operation. This setting helps manage message queuing and prevents buffer overflow.

Target Device

Hostname or IP address of the LiDAR target device. This should match the static IP address configured in Ouster Studio. The default value is typically set to 10.10.41.216.

LiDAR Mode

Configures the LiDAR's column resolution and refresh rate. The format is columnsxrate, where:

  • Columns: Number of points per rotation (1024, 2048)
  • Rate: Refresh rate in Hz (10, 20)

For example, 1024x20 means 1024 points per rotation at 20Hz refresh rate.

Timestamp Mode

Controls how the LiDAR configures its clock. Options are:

  • Internal: Uses the LiDAR's internal clock
  • PTP: Uses Precision Time Protocol for synchronization
  • NTP: Uses Network Time Protocol for synchronization

Transform Vector

Defines the LiDAR frame transformation vector (X Y Z) from the base_link frame. This is used to properly position the LiDAR data in the vehicle's coordinate system. The default value is typically 0 0 -0.19 meters.

Rotation Quaternion

Defines the LiDAR frame rotation quaternion (X Y Z W) from the base_link frame. This is used to properly orient the LiDAR data in the vehicle's coordinate system. The default value is typically 0 0 -0.9998157 0.0191974.

Field of View Settings

The LiDAR sensor has the following field of view characteristics:

  • Horizontal Coverage: 140° (configurable)
  • Minimum Azimuth: 110° (configurable)
  • Maximum Azimuth: 250° (configurable)
  • Vertical Field of View: 45° (+22.5° to -22.5°)

These settings can be adjusted to focus the LiDAR's attention on specific areas of interest while reducing computational load.

Additional Settings

The LiDAR configuration also includes:

  • Camera Field of View: 84° (for reference)
  • Radar Field of View: 140° (for reference)
  • Full 360° Coverage: Available when needed
  • Minimum Range: 0.3m
  • Maximum Range: 100m (at 80% reflectivity)