This is a pcap replay for ouster lidar.
- Jsoncpp
- ouster lidar hardware
- tcpreplay
- python3
sudo apt install -yq tcpreplay libjsoncpp-dev- use
wiresharkto record pcap files of ouster lidar - save the
metadata.jsonfile for configuration
# the following network configs need be modified by another computer which runs the ouster driver and receive udp data
# the settings could be getten by the command `ifconfig`
network:
interface: "enp7s0" # the network interface you use to send data
dest_mac: "48:b0:2d:4d:83:52" # the destination mac address to receive data
new_dest_ip: "192.168.1.110" # the destination ip address to receive data
ouster_config: "./config/extra_ouster.json" # will be updated automaticlly by the ouster driver
# the following configs need be modified by a specific pcap file
pcap_file:
path: "/home/yinwu/Workspace/test/processed.pcap"
old_dest_ip: "192.168.1.110" # the original destination ip address in the pcap file
old_dest_port: 7502 # the original destination port in the pcap filebash build_all.sh- replace the ouster.json with your own metadata.json, and rename it to "ouster.json"
- modify the tcpreplay.yaml
# 1. start firstly the ouster_server, which imitate the real ouster server in a lidar hardware
bash run_ouster_server.sh
# 2. start the ouster driver in another computer to receive the udp ouster data
# 3. replay the pcap file
bash run_tcpreplay.sh