From 99e3bf6ab8e6ae93c35c8c8ba642230c3432d1a5 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Thu, 15 Aug 2024 09:19:26 -0700 Subject: [PATCH 1/3] Add pcap reader with proper time updates --- CHANGELOG.rst | 2 + README.md | 13 +- ouster-ros/CMakeLists.txt | 46 ++- ouster-ros/launch/replay.composite.launch.xml | 3 +- ouster-ros/launch/replay_pcap.launch.xml | 98 +++++ ouster-ros/package.xml | 2 +- ouster-ros/src/os_pcap_node.cpp | 349 ++++++++++++++++++ 7 files changed, 500 insertions(+), 13 deletions(-) create mode 100644 ouster-ros/launch/replay_pcap.launch.xml create mode 100644 ouster-ros/src/os_pcap_node.cpp diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 829a2502..96dc2916 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -11,6 +11,8 @@ Changelog * [BUGFIX]: Implement lock free ring buffer with throttling to reduce partial frames * add support for FUSA udp profile ``FUSA_RNG15_RFL8_NIR8_DUAL``. * [BREAKING]: Set xyz values of individual points in the PointCloud to NaNs when range is zero. +* Added support to replay pcap format direclty from ouster-ros. The feature needs to be enabled + explicitly by turning on the ``BUILD_PCAP`` cmake option and having ``libpcap-dev`` installed. ouster_ros v0.12.0 diff --git a/README.md b/README.md index b9408478..d5b6cb40 100644 --- a/README.md +++ b/README.md @@ -25,6 +25,7 @@ - [Sensor Mode](#sensor-mode) - [Recording Mode](#recording-mode) - [Replay Mode](#replay-mode) + - [PCAP Replay Mode](#pcap-replay-mode) - [Multicast Mode (experimental)](#multicast-mode-experimental) - [Invoking Services](#invoking-services) - [GetMetadata](#getmetadata) @@ -97,7 +98,8 @@ sudo apt install -y \ > You may choose a different _ssl_ backend for the _curl_ library such as `libcurl4-gnutls-dev` or > `libcurl4-nss-dev` - +> **Note** +> To use the PCAP replay mode you need to have `libpcap-dev` installed ### Windows TBD @@ -187,6 +189,15 @@ ros2 launch ouster_ros replay.launch.xml \ metadata:= # optional if bag file has /metadata topic ``` +##### PCAP Replay Mode +> Note +> To use this feature you need to compile the driver with `BUILD_PCAP` option enabled +```bash +ros2 launch ouster_ros replay_pcap.launch.xml \ + pcap_file:= \ + metadata:= # required +``` + #### Multicast Mode (experimental) The multicast launch mode supports configuring the sensor to broadcast lidar packets from the same sensor (live) to multiple active clients. You initiate this mode by using `sensor_mtp.launch.xml` diff --git a/ouster-ros/CMakeLists.txt b/ouster-ros/CMakeLists.txt index 1da19df6..afadfb16 100644 --- a/ouster-ros/CMakeLists.txt +++ b/ouster-ros/CMakeLists.txt @@ -31,9 +31,11 @@ endif() option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON) set(_ouster_ros_INCLUDE_DIRS - include - ouster-sdk/ouster_client/include - ouster-sdk/ouster_client/include/optional-lite + "include;ouster-sdk/ouster_client/include;ouster-sdk/ouster_client/include/optional-lite" + "include;" + "ouster-sdk/ouster_client/include;" + "ouster-sdk/ouster_client/include/optional-lite;" + "ouster-sdk/ouster_pcap/include" ) # ==== Libraries ==== @@ -55,6 +57,11 @@ include_directories(${_ouster_ros_INCLUDE_DIRS}) # use only MPL-licensed parts of eigen add_definitions(-DEIGEN_MPL2_ONLY) +set(OUSTER_TARGET_LINKS ouster_client) +if (BUILD_PCAP) + list(APPEND OUSTER_TARGET_LINKS ouster_pcap) +endif() + add_library(ouster_ros_library SHARED src/os_ros.cpp ) @@ -78,7 +85,7 @@ target_link_libraries(ouster_ros_library ouster_build pcl_common # PRIVATE (unsupported) - -Wl,--whole-archive ouster_client -Wl,--no-whole-archive + -Wl,--whole-archive ${OUSTER_TARGET_LINKS} -Wl,--no-whole-archive ) # helper method to construct ouster-ros components @@ -165,6 +172,18 @@ rclcpp_components_register_node(os_driver_component ) +if (BUILD_PCAP) +# ==== os_replay_component ==== +create_ros2_component(os_pcap_component + "src/os_sensor_node_base.cpp;src/os_pcap_node.cpp" + "" +) +rclcpp_components_register_node(os_pcap_component + PLUGIN "ouster_ros::OusterPcap" + EXECUTABLE os_pcap +) +endif() + # ==== Test ==== if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) @@ -191,14 +210,21 @@ endif() # ==== Install ==== +set(OUSTER_INSTALL_TARGETS + ouster_ros_library + os_sensor_component + os_replay_component + os_cloud_component + os_image_component + os_driver_component +) +if (BUILD_PCAP) + list(APPEND OUSTER_INSTALL_TARGETS os_pcap_component) +endif() + install( TARGETS - ouster_ros_library - os_sensor_component - os_replay_component - os_cloud_component - os_image_component - os_driver_component + ${OUSTER_INSTALL_TARGETS} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml index e0e4e20b..c8282d99 100644 --- a/ouster-ros/launch/replay.composite.launch.xml +++ b/ouster-ros/launch/replay.composite.launch.xml @@ -1,5 +1,7 @@ + + @@ -42,7 +44,6 @@ to disable image topics you would need to omit the os_image node from the launch file"/> - diff --git a/ouster-ros/launch/replay_pcap.launch.xml b/ouster-ros/launch/replay_pcap.launch.xml new file mode 100644 index 00000000..20ba21fb --- /dev/null +++ b/ouster-ros/launch/replay_pcap.launch.xml @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml index 240e69dd..258523bc 100644 --- a/ouster-ros/package.xml +++ b/ouster-ros/package.xml @@ -2,7 +2,7 @@ ouster_ros - 0.12.4 + 0.12.5 Ouster ROS2 driver ouster developers BSD diff --git a/ouster-ros/src/os_pcap_node.cpp b/ouster-ros/src/os_pcap_node.cpp new file mode 100644 index 00000000..b3feb060 --- /dev/null +++ b/ouster-ros/src/os_pcap_node.cpp @@ -0,0 +1,349 @@ +/** + * Copyright (c) 2018-2023, Ouster, Inc. + * All rights reserved. + * + * @file os_pcap_node.cpp + * @brief This node handles replaying publishing pcap files + * + */ + +// prevent clang-format from altering the location of "ouster_ros/ros.h", the +// header file needs to be the first include due to PCL_NO_PRECOMPILE flag +// clang-format off +#include "ouster_ros/os_ros.h" +// clang-format on + +#include +#include +#include +#include + +#include "ouster_sensor_msgs/msg/packet_msg.h" +#include "ouster_ros/os_sensor_node_base.h" +#include "ouster_ros/visibility_control.h" + +#include "thread_safe_ring_buffer.h" +#include + +namespace sensor = ouster::sensor; +using ouster::sensor_utils::PcapReader; +using namespace std::chrono; + +using ouster_sensor_msgs::msg::PacketMsg; + +namespace ouster_ros { + +class OusterPcap : public OusterSensorNodeBase { + public: + OUSTER_ROS_PUBLIC + explicit OusterPcap(const rclcpp::NodeOptions& options) + : OusterSensorNodeBase("os_pcap", options) { + declare_parameters(); + } + + LifecycleNodeInterface::CallbackReturn on_configure( + const rclcpp_lifecycle::State&) { + RCLCPP_INFO(get_logger(), "on_configure() is called."); + + try { + auto meta_file = get_meta_file(); + auto pcap_file = get_pcap_file(); + create_metadata_publisher(); + load_metadata_from_file(meta_file); + open_pcap(pcap_file); + publish_metadata(); + create_get_metadata_service(); + RCLCPP_INFO(get_logger(), "Running in replay mode"); + } catch (const std::exception& ex) { + RCLCPP_ERROR_STREAM( + get_logger(), + "exception thrown while configuring the sensor, details: " + << ex.what()); + // TODO: return ERROR on fatal errors, FAILURE otherwise + return LifecycleNodeInterface::CallbackReturn::ERROR; + } + + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + LifecycleNodeInterface::CallbackReturn on_activate( + const rclcpp_lifecycle::State& state) { + RCLCPP_DEBUG(get_logger(), "on_activate() is called."); + LifecycleNode::on_activate(state); + create_publishers(); + if (imu_packet_pub) imu_packet_pub->on_activate(); + if (lidar_packet_pub) lidar_packet_pub->on_activate(); + allocate_buffers(); + start_packet_processing_threads(); + start_packet_read_thread(); + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + LifecycleNodeInterface::CallbackReturn on_error( + const rclcpp_lifecycle::State&) { + RCLCPP_DEBUG(get_logger(), "on_error() is called."); + // Always return failure for now + return LifecycleNodeInterface::CallbackReturn::FAILURE; + } + + LifecycleNodeInterface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State& state) { + RCLCPP_DEBUG(get_logger(), "on_deactivate() is called."); + LifecycleNode::on_deactivate(state); + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + LifecycleNodeInterface::CallbackReturn on_cleanup( + const rclcpp_lifecycle::State&) { + RCLCPP_DEBUG(get_logger(), "on_cleanup() is called."); + cleanup(); + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + LifecycleNodeInterface::CallbackReturn on_shutdown( + const rclcpp_lifecycle::State& state) { + RCLCPP_DEBUG(get_logger(), "on_shutdown() is called."); + + if (state.label() == "unconfigured") { + // nothing to do, return success + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + // whether state was 'active' or 'inactive' do cleanup + try { + cleanup(); + } catch (const std::exception& ex) { + RCLCPP_ERROR_STREAM( + get_logger(), + "exception thrown durng cleanup, details: " << ex.what()); + return LifecycleNodeInterface::CallbackReturn::ERROR; + } + + return LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + private: + + void cleanup() { + get_metadata_srv.reset(); + } + + void declare_parameters() { + declare_parameter("metadata"); + declare_parameter("pcap_file"); + declare_parameter("use_system_default_qos", false); + } + + std::string get_meta_file() const { + auto meta_file = get_parameter("metadata").as_string(); + if (!is_arg_set(meta_file)) { + RCLCPP_ERROR(get_logger(), + "Must specify metadata file in replay mode"); + throw std::runtime_error("metadata no specificed"); + } + return meta_file; + } + + std::string get_pcap_file() const { + auto pcap_file = get_parameter("pcap_file").as_string(); + if (!is_arg_set(pcap_file)) { + RCLCPP_ERROR(get_logger(), + "Must specify pcap file in replay mode"); + throw std::runtime_error("pcap_file param not set"); + } + return pcap_file; + } + + void load_metadata_from_file(const std::string& meta_file) { + try { + cached_metadata = read_text_file(meta_file); + info = sensor::parse_metadata(cached_metadata); + display_lidar_info(info); + } catch (const std::runtime_error& e) { + cached_metadata.clear(); + RCLCPP_ERROR_STREAM( + get_logger(), + "Error when running in replay mode: " << e.what()); + } + } + + void allocate_buffers() { + auto& pf = sensor::get_format(info); + + lidar_packet.buf.resize(pf.lidar_packet_size); + // TODO: gauge necessary queue size for lidar packets + lidar_packets = + std::make_unique(pf.lidar_packet_size, 1024); + + imu_packet.buf.resize(pf.imu_packet_size); + // TODO: gauge necessary queue size for lidar packets + imu_packets = + std::make_unique(pf.imu_packet_size, 1024); + } + + void create_publishers() { + bool use_system_default_qos = + get_parameter("use_system_default_qos").as_bool(); + rclcpp::QoS system_default_qos = rclcpp::SystemDefaultsQoS(); + rclcpp::QoS sensor_data_qos = rclcpp::SensorDataQoS(); + auto selected_qos = + use_system_default_qos ? system_default_qos : sensor_data_qos; + lidar_packet_pub = + create_publisher("lidar_packets", selected_qos); + imu_packet_pub = create_publisher("imu_packets", selected_qos); + } + + void open_pcap(const std::string& pcap_file) { + pcap.reset(new PcapReader(pcap_file)); + } + + void start_packet_read_thread() { + packet_read_active = true; + packet_read_thread = std::make_unique([this]() { + auto& pf = sensor::get_format(info); + while (packet_read_active) { + read_packets(*pcap, pf); + } + RCLCPP_DEBUG(get_logger(), + "packet_read_thread done."); + }); + } + + void stop_packet_read_thread() { + RCLCPP_DEBUG(get_logger(), "packet_read_thread stopping."); + if (packet_read_thread->joinable()) { + packet_read_active = false; + packet_read_thread->join(); + } + } + + void start_packet_processing_threads() { + imu_packets_processing_thread_active = true; + imu_packets_processing_thread = std::make_unique([this]() { + while (imu_packets_processing_thread_active) { + imu_packets->read([this](const uint8_t* buffer) { + on_imu_packet_msg(buffer); + }); + } + RCLCPP_DEBUG(get_logger(), "imu_packets_processing_thread done."); + }); + + lidar_packets_processing_thread_active = true; + lidar_packets_processing_thread = + std::make_unique([this]() { + while (lidar_packets_processing_thread_active) { + lidar_packets->read([this](const uint8_t* buffer) { + on_lidar_packet_msg(buffer); + }); + } + + RCLCPP_DEBUG(get_logger(), + "lidar_packets_processing_thread done."); + }); + } + + void stop_packet_processing_threads() { + RCLCPP_DEBUG(get_logger(), "stopping packet processing threads."); + + if (imu_packets_processing_thread->joinable()) { + imu_packets_processing_thread_active = false; + imu_packets_processing_thread->join(); + } + + if (lidar_packets_processing_thread->joinable()) { + lidar_packets_processing_thread_active = false; + lidar_packets_processing_thread->join(); + } + } + + void on_lidar_packet_msg(const uint8_t* raw_lidar_packet) { + // copying the data from queue buffer into the message buffer + // this can be avoided by constructing an abstraction where + // OusterSensor has its own RingBuffer of PacketMsg but for + // now we are focusing on optimizing the code for OusterDriver + std::memcpy(lidar_packet.buf.data(), raw_lidar_packet, + lidar_packet.buf.size()); + lidar_packet_pub->publish(lidar_packet); + } + + void on_imu_packet_msg(const uint8_t* raw_imu_packet) { + // copying the data from queue buffer into the message buffer + // this can be avoided by constructing an abstraction where + // OusterSensor has its own RingBuffer of PacketMsg but for + // now we are focusing on optimizing the code for OusterDriver + std::memcpy(imu_packet.buf.data(), raw_imu_packet, + imu_packet.buf.size()); + imu_packet_pub->publish(imu_packet); + } + + void read_packets(PcapReader& pcap, const sensor::packet_format& pf) { + size_t payload_size = pcap.next_packet(); + auto packet_info = pcap.current_info(); + auto file_start = packet_info.timestamp; + auto last_update = file_start; + using namespace std::chrono_literals; + const auto UPDATE_PERIOD = duration_cast(1s); + + while (payload_size) { + auto start = high_resolution_clock::now(); + if (packet_info.dst_port == info.config.udp_port_imu) { + imu_packets->write_overwrite( + [this, &pcap, &pf, &packet_info](uint8_t* buffer) { + std::memcpy(buffer, pcap.current_data(), + pf.imu_packet_size); + }); + } else if (packet_info.dst_port == info.config.udp_port_lidar) { + lidar_packets->write_overwrite( + [this, &pcap, &pf, &packet_info](uint8_t* buffer) { + std::memcpy(buffer, pcap.current_data(), + pf.lidar_packet_size); + }); + } else { + std::cout << "unknown packet" << std::endl; + } + auto prev_packet_ts = packet_info.timestamp; + payload_size = pcap.next_packet(); + packet_info = pcap.current_info(); + auto curr_packet_ts = packet_info.timestamp; + auto end = high_resolution_clock::now(); + auto dt = (curr_packet_ts - prev_packet_ts) - (end - start); + std::this_thread::sleep_for(dt); // pace packet generation + + if (curr_packet_ts - last_update > UPDATE_PERIOD) { + last_update = curr_packet_ts; + std::cout << "\rtime passed: " + << std::fixed << std::setprecision(3) + << (curr_packet_ts - file_start).count() / 1e6f + << " s" << std::flush + << std::endl; // This seem to be required for ROS2 + } + } + } + + private: + std::shared_ptr pcap; + ouster_sensor_msgs::msg::PacketMsg lidar_packet; + ouster_sensor_msgs::msg::PacketMsg imu_packet; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + lidar_packet_pub; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + imu_packet_pub; + + std::unique_ptr lidar_packets; + std::unique_ptr imu_packets; + + std::atomic packet_read_active = {false}; + std::unique_ptr packet_read_thread; + + std::atomic imu_packets_processing_thread_active = {false}; + std::unique_ptr imu_packets_processing_thread; + + std::atomic lidar_packets_processing_thread_active = {false}; + std::unique_ptr lidar_packets_processing_thread; +}; + +} // namespace ouster_ros + +#include + +RCLCPP_COMPONENTS_REGISTER_NODE(ouster_ros::OusterPcap) From 8582d930746742124e446790c483514913e8b749 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Thu, 15 Aug 2024 10:22:28 -0700 Subject: [PATCH 2/3] Update log message --- ouster-ros/src/os_pcap_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ouster-ros/src/os_pcap_node.cpp b/ouster-ros/src/os_pcap_node.cpp index b3feb060..730ac899 100644 --- a/ouster-ros/src/os_pcap_node.cpp +++ b/ouster-ros/src/os_pcap_node.cpp @@ -299,7 +299,8 @@ class OusterPcap : public OusterSensorNodeBase { pf.lidar_packet_size); }); } else { - std::cout << "unknown packet" << std::endl; + RCLCPP_WARN_STREAM_THROTTLE(get_logger(), *get_clock(), 1, + "unknown packet /w port:" << packet_info.dst_port); } auto prev_packet_ts = packet_info.timestamp; payload_size = pcap.next_packet(); From d73bdc0966b64b9baefdb36abdcd9e4c950acd33 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Thu, 15 Aug 2024 10:48:49 -0700 Subject: [PATCH 3/3] Remove duplicate includes --- ouster-ros/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/ouster-ros/CMakeLists.txt b/ouster-ros/CMakeLists.txt index afadfb16..220b0c72 100644 --- a/ouster-ros/CMakeLists.txt +++ b/ouster-ros/CMakeLists.txt @@ -31,7 +31,6 @@ endif() option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON) set(_ouster_ros_INCLUDE_DIRS - "include;ouster-sdk/ouster_client/include;ouster-sdk/ouster_client/include/optional-lite" "include;" "ouster-sdk/ouster_client/include;" "ouster-sdk/ouster_client/include/optional-lite;"