feat: fix to be able to use nebula

awsim_sensor_kit_launch/launch/lidar.launch.xml

@@ -1,4 +1,6 @@
 <launch>
+  <arg name="launch_driver" default="true"/>
+  <arg name="host_ip" default="255.255.255.255"/>
   <arg name="use_concat_filter" default="true"/>
   <arg name="vehicle_mirror_param_file"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
@@ -9,27 +11,49 @@
 
     <group>
       <push-ros-namespace namespace="top"/>
-      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
+      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="250.0"/>
+        <arg name="sensor_frame" value="velodyne_top"/>
+        <arg name="sensor_ip" value="127.0.0.1"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2368"/>
+        <arg name="scan_phase" value="300.0"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
         <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="left"/>
-      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
+      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_left"/>
+        <arg name="sensor_ip" value="127.0.0.1"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2369"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
         <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>
 
     <group>
       <push-ros-namespace namespace="right"/>
-      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_lidar.launch.xml">
+      <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_right"/>
+        <arg name="sensor_ip" value="127.0.0.1"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2370"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
         <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
-        <arg name="use_distortion_corrector" value="$(var use_distortion_corrector)"/>
         <arg name="container_name" value="pointcloud_container"/>
       </include>
     </group>

common_awsim_sensor_launch/config/distortion_corrector_node.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    base_frame: base_link
+    use_imu: true
+    use_3d_distortion_correction: false

common_awsim_sensor_launch/launch/velodyne_node_container.launch.py → common_awsim_sensor_launch/launch/nebula_node_container.launch.py

@@ -23,10 +23,17 @@
 from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
 import yaml
 from ament_index_python.packages import get_package_share_directory
 from pathlib import Path
 
+def get_lidar_make(sensor_name):
+    if sensor_name[:6].lower() == "pandar":
+        return "Hesai", ".csv"
+    elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]:
+        return "Velodyne", ".yaml"
+    return "unrecognized_sensor_model"
 
 def get_vehicle_info(context):
     # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support
@@ -62,6 +69,99 @@ def create_parameter_dict(*args):
 
     nodes = []
 
+    # Model and make
+    sensor_model = LaunchConfiguration("sensor_model").perform(context)
+    sensor_make, sensor_extension = get_lidar_make(sensor_model)
+    nebula_decoders_share_dir = Path(get_package_share_directory("nebula_decoders"))
+
+    # Calibration file
+    sensor_calib_fp = (
+        nebula_decoders_share_dir
+        / "calibration"
+        / sensor_make.lower()
+        / (sensor_model + sensor_extension)
+    )
+    assert (
+        sensor_calib_fp.exists()
+    ), f"Sensor calib file under calibration/ was not found: {sensor_calib_fp}"
+    sensor_calib_fp = str(sensor_calib_fp)
+
+    nodes = []
+
+    nodes.append(
+        ComposableNode(
+            package="glog_component",
+            plugin="GlogComponent",
+            name="glog_component",
+        )
+    )
+
+    nodes.append(
+        ComposableNode(
+            package="nebula_ros",
+            plugin=sensor_make + "DriverRosWrapper",
+            name=sensor_make.lower() + "_driver_ros_wrapper_node",
+            parameters=[
+                {
+                    "calibration_file": sensor_calib_fp,
+                    "sensor_model": sensor_model,
+                    **create_parameter_dict(
+                        "host_ip",
+                        "sensor_ip",
+                        "data_port",
+                        "return_mode",
+                        "min_range",
+                        "max_range",
+                        "frame_id",
+                        "scan_phase",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
+                        "dual_return_distance_threshold",
+                        "setup_sensor",
+                        "retry_hw",
+                    ),
+                },
+            ],
+            remappings=[
+                # cSpell:ignore knzo25
+                # TODO(knzo25): fix the remapping once nebula gets updated
+                ("pandar_points", "pointcloud_raw_ex"),
+                ("velodyne_points", "pointcloud_raw_ex"),
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        )
+    )
+
+    nodes.append(
+        ComposableNode(
+            package="nebula_ros",
+            plugin=sensor_make + "HwMonitorRosWrapper",
+            name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
+            parameters=[
+                {
+                    "sensor_model": sensor_model,
+                    **create_parameter_dict(
+                        "return_mode",
+                        "frame_id",
+                        "scan_phase",
+                        "sensor_ip",
+                        "host_ip",
+                        "data_port",
+                        "gnss_port",
+                        "packet_mtu_size",
+                        "rotation_speed",
+                        "cloud_min_angle",
+                        "cloud_max_angle",
+                        "diag_span",
+                        "dual_return_distance_threshold",
+                        "delay_monitor_ms",
+                    ),
+                },
+            ],
+            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+        )
+    )
+
     cropbox_parameters = create_parameter_dict("input_frame", "output_frame")
     cropbox_parameters["negative"] = True
 
@@ -147,6 +247,45 @@ def create_parameter_dict(*args):
         composable_node_descriptions=nodes,
     )
 
+    driver_component = ComposableNode(
+        package="nebula_ros",
+        plugin=sensor_make + "HwInterfaceRosWrapper",
+        # node is created in a global context, need to avoid name clash
+        name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
+        parameters=[
+            {
+                "sensor_model": sensor_model,
+                "calibration_file": sensor_calib_fp,
+                **create_parameter_dict(
+                    "sensor_ip",
+                    "host_ip",
+                    "scan_phase",
+                    "return_mode",
+                    "frame_id",
+                    "rotation_speed",
+                    "data_port",
+                    "gnss_port",
+                    "cloud_min_angle",
+                    "cloud_max_angle",
+                    "packet_mtu_size",
+                    "dual_return_distance_threshold",
+                    "setup_sensor",
+                    "ptp_profile",
+                    "ptp_transport_type",
+                    "ptp_switch_type",
+                    "ptp_domain",
+                    "retry_hw",
+                ),
+            }
+        ],
+    )
+
+    driver_component_loader = LoadComposableNodes(
+        composable_node_descriptions=[driver_component],
+        target_container=container,
+        condition=IfCondition(LaunchConfiguration("launch_driver")),
+    )
+
     distortion_component = ComposableNode(
         package="autoware_pointcloud_preprocessor",
         plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
@@ -185,7 +324,7 @@ def create_parameter_dict(*args):
         condition=launch.conditions.UnlessCondition(LaunchConfiguration("use_distortion_corrector")),
     )
 
-    return [container, distortion_loader, distortion_relay_loader]
+    return [container, driver_component_loader, distortion_loader, distortion_relay_loader]
 
 
 def generate_launch_description():
@@ -201,21 +340,50 @@ def add_launch_arg(name: str, default_value=None, description=None):
         get_package_share_directory("common_awsim_sensor_launch")
     )
 
+    add_launch_arg("sensor_model", description="sensor model name")
+    add_launch_arg("config_file", "", description="sensor configuration file")
+    add_launch_arg("launch_driver", "True", "do launch driver")
+    add_launch_arg("setup_sensor", "True", "configure sensor")
+    add_launch_arg("retry_hw", "false", "retry hw")
+    add_launch_arg("sensor_ip", "192.168.1.201", "device ip address")
+    add_launch_arg("host_ip", "255.255.255.255", "host ip address")
+    add_launch_arg("scan_phase", "0.0")
     add_launch_arg("base_frame", "base_link", "base frame id")
-    add_launch_arg("container_name", "velodyne_composable_node_container", "container name")
+    add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors")
+    add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors")
+    add_launch_arg("cloud_min_angle", "0", "minimum view angle setting on device")
+    add_launch_arg("cloud_max_angle", "360", "maximum view angle setting on device")
+    add_launch_arg("data_port", "2368", "device data port number")
+    add_launch_arg("gnss_port", "2380", "device gnss port number")
+    add_launch_arg("packet_mtu_size", "1500", "packet mtu size")
+    add_launch_arg("rotation_speed", "600", "rotational frequency")
+    add_launch_arg("dual_return_distance_threshold", "0.1", "dual return distance threshold")
+    add_launch_arg("frame_id", "lidar", "frame id")
     add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox")
     add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox")
     add_launch_arg(
         "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml"
     )
     add_launch_arg("use_multithread", "False", "use multithread")
-    add_launch_arg("use_intra_process", "False", "use ROS2 component container communication")
+    add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication")
     add_launch_arg("output_as_sensor_frame", "False", "output final pointcloud in sensor frame")
     add_launch_arg("frame_id", "base_link", "frame id")
     add_launch_arg(
         "ring_outlier_filter_node_param_path",
         str(common_sensor_share_dir / "config" / "ring_outlier_filter_node.param.yaml"),
-        description="path to parameter file of ring outlier filter node",
+        description="path to parameter file of ring outlier filter node")
+    add_launch_arg("container_name", "nebula_node_container")
+    add_launch_arg("ptp_profile", "1588v2")
+    add_launch_arg("ptp_transport_type", "L2")
+    add_launch_arg("ptp_switch_type", "TSN")
+    add_launch_arg("ptp_domain", "0")
+    add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame")
+    add_launch_arg("diag_span", "1000", "")
+    add_launch_arg("delay_monitor_ms", "2000", "")
+
+    add_launch_arg(
+        "distortion_corrector_node_param_file",
+        [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"],
     )
 
     set_container_executable = SetLaunchConfiguration(

common_awsim_sensor_launch/launch/velodyne_VLP16.launch.xml

@@ -0,0 +1,39 @@
+<launch>
+
+  <!-- Params -->
+  <arg name="launch_driver" default="true"/>
+
+  <arg name="model" default="VLP16"/>
+  <arg name="max_range" default="130.0"/>
+  <arg name="min_range" default="0.4"/>
+  <arg name="sensor_frame" default="velodyne"/>
+  <arg name="return_mode" default="SingleStrongest"/>
+  <arg name="sensor_ip" default="192.168.1.201"/>
+  <arg name="host_ip" default="255.255.255.255"/>
+  <arg name="data_port" default="2368"/>
+  <arg name="scan_phase" default="0.0"/>
+  <arg name="cloud_min_angle" default="0"/>
+  <arg name="cloud_max_angle" default="360"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="container_name" default="velodyne_node_container"/>
+
+  <include file="$(find-pkg-share common_awsim_sensor_launch)/launch/nebula_node_container.launch.py">
+    <arg name="launch_driver" value="$(var launch_driver)"/>
+    <arg name="sensor_model" value="$(var model)"/>
+    <arg name="return_mode" value="$(var return_mode)"/>
+    <arg name="max_range" value="$(var max_range)"/>
+    <arg name="min_range" value="$(var min_range)"/>
+    <arg name="frame_id" value="$(var sensor_frame)"/>
+    <arg name="sensor_ip" value="$(var sensor_ip)"/>
+    <arg name="host_ip" value="$(var host_ip)"/>
+    <arg name="data_port" value="$(var data_port)"/>
+    <arg name="scan_phase" value="$(var scan_phase)"/>
+    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+    <arg name="use_intra_process" value="true"/>
+    <arg name="use_multithread" value="true"/>
+    <arg name="container_name" value="$(var container_name)"/>
+  </include>
+
+</launch>