# ODS node

The `ifm3d-ros2` package provides an Obstacle Detection Solution (ODS) node, which is the main interface for streaming occupancy grid and zone data from an ODS application on the O3R platform, and configuring it.

:::{toctree}
    :maxdepth: 2
    ODS configuration <ods_configuration>
    Launch <ods_launch>
    Topics <ods_topics>
    Transforms <ods_transforms>
    Parameters <ods_params>
:::