Introduction

This is a pcap replay for ouster lidar.

Requiremetns

• Jsoncpp
• ouster lidar hardware
• tcpreplay
• python3

sudo apt install -yq tcpreplay libjsoncpp-dev

Usage

Data Recording

1. use wireshark to record pcap files of ouster lidar
2. save the metadata.json file for configuration

Configs

# 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 file

Compile

bash build_all.sh

Replay

1. replace the ouster.json with your own metadata.json, and rename it to "ouster.json"
2. 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