macOS | Ouster Sensor Docs

Tested on macOS 10.15.4. The sensor hostname is os-991234567890.local (serial number on the sticker on top of the sensor).

Connecting the Sensor

Connect the sensor to an available Ethernet port on the host machine or router.
The sensor automatically obtains an IP address via link-local or DHCP, depending on network configuration.

It can take up to 60 seconds to obtain an IP address after initial power-up.

The Sensor Homepage

Enter http://os-991234567890.local/ in your browser’s address bar to open the sensor homepage.

If the sensor homepage does not load, follow the steps in Determining the IPv4 Address of the Sensor to verify the sensor has a valid IP address.

Determining the IPv4 Address of the Sensor

Open Terminal (Cmd+Space, type Terminal, press Enter).
Ping the sensor to find its IPv4 address:

Command

ping -c3 [sensor_hostname]

Example

Mac-Computer:~ username$ ping -c3 os-991234567890.local

If this command hangs, configure your interface to link-local first.

Response

PING os-991234567890.local (192.0.2.130): 56 data bytes
64 bytes from 192.0.2.130: icmp_seq=0 ttl=64 time=0.644 ms
64 bytes from 192.0.2.130: icmp_seq=1 ttl=64 time=0.617 ms
64 bytes from 192.0.2.130: icmp_seq=2 ttl=64 time=0.299 ms
--- os-991234567890.local ping statistics ---
3 packets transmitted, 3 packets received, 0.0% packet loss
round-trip min/avg/max/stddev = 0.299/0.520/0.644/0.157 ms

In this example, the sensor IPv4 address is 192.0.2.130. An address of the form 169.254.x.x means it is connected via link-local.

Alternatively, resolve the sensor IP using dns-sd:

Command

dns-sd -G v4 [sensor_hostname]

Example

Mac-Computer:~ username$ dns-sd -G v4 os-991234567890.local

Response

DATE: ---Tue 28 Apr 2020---
11:40:43.228  ...STARTING...
Timestamp     A/R  Flags  if  Hostname                     Address         TTL
11:40:43.414  Add  2      18  os-991234567890.local.  192.0.2.130      120

An address of the form 169.254.x.x means the sensor is connected via link-local.

Determining the IPv4 Address of the Interface

Identify the IPv4 address of the interface the sensor is connected to (e.g., en1 in the example below).

Open Terminal (Cmd+Space, type Terminal, press Enter).
View the IPv4 address of your interfaces:

Command

ifconfig

Example

Mac-Computer:~ username$ ifconfig

Response

lo0: flags=8049<UP,LOOPBACK,RUNNING,MULTICAST> mtu 16384
   options=1203<RXCSUM,TXCSUM,TXSTATUS,SW_TIMESTAMP>
   inet 127.0.0.1 netmask 0xff000000
   inet6 ::1 prefixlen 128
   inet6 fe80::1%lo0 prefixlen 64 scopeid 0x1
   nd6 options=201<PERFORMNUD,DAD>
en0: flags=8863<UP,BROADCAST,SMART,RUNNING,SIMPLEX,MULTICAST> mtu 1500
   options=400<CHANNEL_IO>
   ether 02:00:00:aa:bb:cc
   inet6 fe80::1c30:1246:93a2:9f68%en0 prefixlen 64 secured scopeid 0x7
   inet 192.0.2.7 netmask 0xffffff00 broadcast 192.0.2.255
   nd6 options=201<PERFORMNUD,DAD>
   media: autoselect
   status: active
en1: flags=8963<UP,BROADCAST,SMART,RUNNING,SIMPLEX,MULTICAST> mtu 1500
   options=400<CHANNEL_IO>
   ether 02:00:00:dd:ee:ff
   inet6 fe80::c27:1917:47ed:bcfe%en1 prefixlen 64 secured scopeid 0x12
   inet 169.254.1.100 netmask 0xffff0000 broadcast 169.254.255.255
   nd6 options=201<PERFORMNUD,DAD>
   media: autoselect (1000baseT <full-duplex>)
   status: active

In this example, the sensor is plugged into interface en1.
The host IPv4 address is on the inet line — here, 169.254.1.100.

An interface address of the form 169.254.x.x means macOS self-assigned a link-local address in the absence of a DHCP server.

Setting the Host Interface to DHCP

Set the interface to obtain an IP address automatically via DHCP.

Command

sudo ipconfig set [interface_name] DHCP

Example — with interface name en1:

Mac-Computer:~ username$ sudo ipconfig set en1 DHCP

Response: (no output)

Verify the change with ifconfig. The inet line for en1 will show the DHCP or link-local self-assigned address once a cable is connected.

Setting the Host Interface to Static IP

Assign a static IPv4 address to the interface.

Command

sudo ipconfig set [interface_name] MANUAL [ip_address] [subnet_mask]

Example — with interface en1, IPv4 192.0.2.1, subnet mask 255.255.255.0:

Mac-Computer:~ username$ sudo ipconfig set en1 MANUAL 192.0.2.1 255.255.255.0

/24 is shorthand for Subnet Mask 255.255.255.0.

Response: (no output)

Verify the change with ifconfig. The inet line for en1 will show the static address, e.g., 192.0.2.1.

Finding a Sensor

With mDNS Service Discovery (dns-sd):

Browse for all sensors and their service details:

Command

dns-sd -Z [service type]

Example

Mac-Computer:~ username$ dns-sd -Z _ouster-lidar._tcp

Response

Browsing for _ouster-lidar._tcp
DATE: ---Thu 30 Apr 2020---
17:27:52.242  ...STARTING...
_ouster-lidar._tcp                                   PTR
Ouster Sensor 991234567890._ouster-lidar._tcp
Ouster Sensor 991234567890._ouster-lidar._tcp    SRV     0 0 80 os-991234567890.local.
Ouster Sensor 991234567890._ouster-lidar._tcp    TXT     "path=/api/v1" "pn=840-102145-B"
                                                         "sn=991234567890" "fw=ousteros-image-prod-bootes-v3.2.0"

Resolve the sensor IPv4 address by hostname:

Command

dns-sd -G v4 [sensor_hostname]

Example

Mac-Computer:~ username$ dns-sd -G v4 os-991234567890.local

Response

DATE: ---Thu 30 Apr 2020---
17:37:33.155  ...STARTING...
Timestamp     A/R  Flags  if  Hostname                     Address         TTL
17:37:33.379  Add  2      7   os-991234567890.local.  192.0.2.130      120

In this example, the sensor IPv4 address is 192.0.2.130.

With Discovery App:

Step 1: Download Discovery DNS-SD Browser.

Downloading Discovery DNS-SD Browser

Step 2: Use Finder to locate and launch Discovery.

Finding the Discovery app in Finder

Step 3: The sensor appears under _ouster-lidar._tcp. Click it to view all sensor details.