Meteorological Sensor Kit

Stationary rooftop multi-sensor platform for meteorological data acquisition. Combines LiDAR, radar, and weather stations for precipitation monitoring and atmospheric sensing, with event-driven recording triggered by precipitation events.

Packages

Package	Description
vifroof_sensor_kit_description	URDF/Xacro robot description of the rooftop sensor assembly
met_sensor_kit_launch	Launch files and configuration for all sensors, recording, and monitoring

Sensors

• Ouster OS1 LiDAR — 3D atmospheric/precipitation sensing (1024×10, TIME_FROM_INTERNAL_OSC)
• Smartmicro UMRR11 Radar — Micro-Doppler precipitation detection (192.168.1.50)
• Lufft WS100 — Precipitation radar (rain intensity, drop size distribution)
• Lufft WS501 — Comprehensive meteorology (temperature, wind, pressure, humidity, radiation)
• u-blox F9P GNSS and Xsens MTi IMU — Available but currently disabled in default config

Usage

Launch the full meteorological sensor suite:

ros2 launch met_sensor_kit_launch met.launch.xml

This starts all sensors, data recording, and precipitation monitoring. Recording is automatically triggered when the WS100 detects precipitation above the configured threshold.

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 in met_sensor_kit_launch/launch/sensors/.

Configuration

Sensor configurations are in met_sensor_kit_launch/config/sensors/:

File	Sensor
lidar/ouster.param.yaml	Ouster OS1 (IP, resolution, timestamp mode)
radar/radar.param.yaml	Smartmicro UMRR11 (IP, port, model)
aws/lufft_ws100_600.yaml	Lufft weather stations (channels, serial ports)
gnss/c94_f9p_rover.yaml	u-blox F9P
imu/xsens_mti_node.yaml	Xsens MTi

Monitoring config: met_sensor_kit_launch/config/monitoring/met_monitoring.param.yaml Recording config: met_sensor_kit_launch/config/recording/recording.param.yaml

Data is recorded in MCAP format to $HOME/MOSEP/bagfiles/ with prefix mosep_met.

Ouster Timestamp Modes Reference

The timestamp_mode parameter in the Ouster config supports four modes:

Mode	Description	Accuracy
TIME_FROM_INTERNAL_OSC	Free-running counter from sensor power-on	±90 ppm
TIME_FROM_SYNC_PULSE_IN	Synced to external pulse input	±1 s
TIME_FROM_PTP_1588	PTP master synchronization	±50 µs
TIME_FROM_ROS_RECEPTION	Host system receive time (not recommended for mobile use)	Variable

The met sensor kit uses TIME_FROM_INTERNAL_OSC by default.

License

Apache 2.0