ros2 launch ouster_ros replay_pcap.launch.xml fails: executable 'os_pcap' not found

[hemanthmandava945]

OS / Distro: Ubuntu 22.04 (or specify yours)
ROS 2 Distribution: Humble
Workspace layout:
~/ros2_ws/src/ouster-ros is cloned from the Ouster ROS repo

I used the provided launch file replay_pcap.launch.xml, invoking:
ros2 launch ouster_ros replay_pcap.launch.xml
pcap_file:=/home/vboxuser/Downloads/my_capture.pcap
metadata:=/home/vboxuser/Downloads/my_capture.json
(where my_capture.pcap and my_capture.json are my PCAP and metadata files recorded from an Ouster sensor).

Right after running the above, I see:

[INFO] [launch]: All log files can be found below …
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'os_pcap' not found on the libexec directory '/home/vboxuser/ros2_ws/install/ouster_ros/lib/ouster_ros'

I checked the install directory:

ls ~/ros2_ws/install/ouster_ros/lib/ouster_ros

Output: os_cloud os_driver os_image os_replay os_sensor

Notice: no 'os_pcap' or 'os_pcap_exec'

Thus the launch file fails because it expects an executable named os_pcap
could you help me with this issue to solve?

[Samahu]

If you want to use pcap functionality you need to build the driver with pcap enabled. Try this:

colcon build --cmake-args -DBUILD_PCAP=ON

Then re-try using pcap replay.

Hope this help!