gz_sensors_ouster/package.xml at main · jcfurey/gz_sensors_ouster · GitHub

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<?xml version="1.0"?>
<package format="3">
  <name>gz_sensors_ouster</name>
  <version>1.0.0</version>
  <description>
    Gazebo system plugin (Harmonic / Ionic / Jetty) that creates a GPU-based
    lidar sensor with per-beam non-uniform elevation angles matching Ouster
    calibration metadata.
    Fires rays via gz::rendering::GpuRays and produces Ouster lidar_packets
    (PacketMsg) through a vendor-neutral post-processing pipeline that
    dispatches at runtime to CUDA (NVIDIA), HIP (AMD incl. APUs), SYCL
    (Intel), or an OpenMP-parallelised CPU fallback. Optional IMU noise +
    bias model with Ouster Os1 datasheet defaults.
  </description>
  <maintainer email="john.c.furey@erdc.dren.mil">John C. Furey</maintainer>
  <license>Apache-2.0</license>
  <url type="repository">https://github.com/jcfurey/gz_sensors_ouster</url>
  <url type="bugtracker">https://github.com/jcfurey/gz_sensors_ouster/issues</url>

  <buildtool_depend>ament_cmake_auto</buildtool_depend>

  <!-- Gazebo vendor packages: headers at build, shared libs at runtime -->
  <depend>gz_sim_vendor</depend>
  <depend>gz_rendering_vendor</depend>
  <depend>gz_sensors_vendor</depend>
  <depend>gz_plugin_vendor</depend>

  <!-- ROS 2: linked publishers / message definitions used at build and run -->
  <depend>rclcpp</depend>
  <depend>sensor_msgs</depend>
  <depend>std_msgs</depend>
  <depend>ouster_sensor_msgs</depend>
  <!-- ouster_ros provides the ouster_client library that defines
       SensorInfo / PacketFormat / PacketWriter symbols used by the plugin.
       PacketWriter setters are inline templates, but the SensorInfo(json)
       constructor and PacketFormat::PacketFormat(SensorInfo) live in
       ouster-sdk/ouster_client/src/{sensor_info,parsing}.cpp — runtime
       link dep, not build-only. -->
  <depend>ouster_ros</depend>

  <!-- Eigen is only used in the .cpp (Eigen::Map), not in our public headers,
       so downstream consumers don't need to find it. Build-only. -->
  <build_depend>eigen</build_depend>

  <!-- Runtime-only deps for the examples/ launch files (URDF demo bringup).
       Not needed to build the plugin itself. -->
  <exec_depend>ros_gz_sim</exec_depend>
  <exec_depend>ros_gz_bridge</exec_depend>
  <exec_depend>xacro</exec_depend>
  <exec_depend>robot_state_publisher</exec_depend>
  <exec_depend>launch_ros</exec_depend>
  <exec_depend>ament_index_python</exec_depend>
  <exec_depend>rviz2</exec_depend>

  <test_depend>ament_cmake_gtest</test_depend>
  <test_depend>ament_cmake_pytest</test_depend>
  <test_depend>python3-yaml</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>