Using the CLI¶

One of the goals of ouster-cli is to easily allow the most common sensor and recorded data interactions. We cover some common use cases here, listed alphabetically. Please note that wherever <SENSOR_HOSTNAME> is used, you are expected to substitute in your sensor’s hostname or IP, e.g., os1-991913000010.local.

Discovering sensors on local network¶

Sensors announce their presence on the network using Multicast Domain Name Service (mDNS). Use helper utility command discover to list names and IPs of all available sensors on the local network:

ouster-cli discover

Configuring Your Sensor¶

ouster-cli provides utilities for configuring your sensor with configuration parameters such as lidar_mode and azimuth_window.

To quickly auto-configure a sensor with with standard ports, azimuth window, operating mode, and auto udp dest:

ouster-cli source {SENSOR_HOSTNAME} config

But what if you want to specify the ports and lidar_mode? You can use the config command as shown below:

ouster-cli source {SENSOR_HOSTNAME} config lidar_mode 1024x10 udp_port_lidar 29847

Note

Multiple <PARAM> <VALUE> pairs can be passed this way!

ouster-cli source {SENSOR_HOSTNAME} config -s \
    lidar_mode 512x10 \
    azimuth_window "[90000, 270000]"

Save config to a file¶

You may have a configuration that you want to use repeatedly. Typing these in at the command line every time would be annoying. You can instead save your config to a json, named CONFIG_JSON, by running:

ouster-cli source {SENSOR_HOSTNAME} config -c {CONFIG_JSON}

And finally, you may wish to save a configuration after setting your sensor up perfectly. To do so:

ouster-cli source {SENSOR_HOSTNAME} config -d

That will print your json to stdout. Use > to redirect it to a file!