OS0 packet frequency

David

Hi, I am considering to move towards the OS0 Lidar. However one thing that would be crucial for me is the frequency, in which the Lidar packets get transmitted (using the Ros-Driver). So my question would be, what are the packet sizes which the sensor outputs? Is it only one packet per full revolution or is it possible to decrease this size, therefore publishing packets at a higher rate? If so, what would be the option with the highest frequency?

As an example with the Velodyne 16 Lidar, the highest frequency I can achieve with the Ros-Driver is a packetsize of 16x24, which gives an output frequency of around 760 packets per second.

Many thanks!

eldorado

Both the current v1.13 and beta v1.14 firmware use a fixed UDP packet size of 16 azimuth blocks. I recommend looking at the v1.14 user guide, which does a pretty good job outlining the structure of an azimuth block. Also see the reference link below.

To answer your other questions, no, it's not one packet per revolution. The number of packets per revolution will depend on the LiDAR mode, e.g., 512x10, 1024x10, 2048x10, etc. These numbers represent <azimuth blocks per revolution> x <revolutions per second>. I suppose you can adjust these to meet your data rate requirements.

Reference: https://forum.ouster.at/d/42-os-1-udp-data-structure/7

I hope this helps!