Mapping Sensor Kit

Handheld multi-sensor platform for 3D mapping applications. Integrates a LiDAR, RTK GNSS receiver, and IMU with synchronized data acquisition and recording.

Packages

Package	Description
handheld_sensor_kit_description	URDF/Xacro robot description of the sensor assembly
mapping_sensor_kit_launch	Launch files and configuration for all sensors and recording

Sensors

• Ouster OS1 LiDAR — 3D point cloud, configurable resolution (default 1024×10), PTP time-synchronized
• u-blox F9P RTK GNSS — Centimeter-level positioning with NTRIP RTK corrections
• Xsens MTi IMU — 6-axis inertial measurement unit

Usage

Launch the full sensor suite with data recording:

ros2 launch mapping_sensor_kit_launch mapping.launch.xml

Launch Arguments

Argument	Default	Description
lidar_resolution	1024x10	Ouster LiDAR resolution
udp_profile	RNG19_RFL8_SIG16_NIR16_DUAL	Ouster UDP profile

Individual sensor launches are available under mapping_sensor_kit_launch/launch/sensors/.

Configuration

Sensor configurations are in mapping_sensor_kit_launch/config/sensors/:

File	Sensor
lidar/ouster.param.yaml	Ouster OS1 (IP, resolution, timestamp mode, UDP profile)
gnss/c94_f9p_rover.yaml	u-blox F9P (port, rate, constellations)
imu/xsens_mti_node.yaml	Xsens MTi (port, baudrate)

Recording parameters are in mapping_sensor_kit_launch/config/recording/recording.param.yaml. Data is recorded in MCAP format to $HOME/MOSEP/bagfiles/ with prefix mosep_map.

License

Apache 2.0