chore: fix pre-commit config and adapt code to make all checks pass (#…

…162)

* chore: fix pre-commit versions and clang-format hook failure

* chore(docs): fix documentation pre-commit errors

* chore: fix pre-commit and compiler warnings in all code files modified between main..develop

* chore(yamllint): ignore yaml document start in clang-format config as it is required

* chore: add copyright and license headers

* chore(pre-commit): allow multiple documents in YAML files to make .clang-format file check pass

* chore: make pre-commit pass for parameter schema code

* chore: add copyright and license to all source files

* chore: implement pre-commit suggestions in all CPP/HPP files

* chore: whitespace changes in non-cpp files to satisfy pre-commit

* chore: flake8 changes to satisfy pre-commit

* fix: allow implicit conversion to status types again

* chore: clean up imports

* chore: add override/inline where necessary

* chore(nebula_ros): remove obsolete wrapper base types

* chore: move nolint comments to be robust to formatting linebreaks

* chore(velodyne): fix indentation in velodyne calibration files to satisfy yamllint and ignore them in prettier to prevent conflicting styles

* chore(hesai): fix decoder test config yaml quotations

* chore: whitespace changes

* chore: remove empty, un-parseable local.cspell.json

* chore(prettier): ignore yaml and json files as they are handled by yamllint/clang-tidy respectively

* chore: make pre-commit pass on new files after #146

* chore: update cspell to pass spell-check

* chore: rename contributing.md docs page to make failing link check pass

.clang-format

@@ -45,3 +45,6 @@ IncludeCategories:
   - Regex: '".*"'
     Priority: 1
     CaseSensitive: true
+---
+Language: Json
+BasedOnStyle: llvm

.cspell.json

@@ -19,6 +19,7 @@
     "gptp",
     "Helios",
     "Hesai",
+    "horiz",
     "Idat",
     "ipaddr",
     "manc",
@@ -50,6 +51,7 @@
     "vccint",
     "Vccint",
     "Vdat",
+    "Wbitwise",
     "XT",
     "XTM",
     "yukkysaito"

.github/workflows/build-and-test-differential.yaml

@@ -54,4 +54,3 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
-

.github/workflows/json-schema-check.yaml

@@ -36,4 +36,4 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Dummy step
-        run: echo "No relevant changes, passing check"
+        run: echo "No relevant changes, passing check"

.markdown-link-check.json

@@ -1,5 +1,9 @@
 {
-  "aliveStatusCodes": [200, 206, 403],
+  "aliveStatusCodes": [
+    200,
+    206,
+    403
+  ],
   "ignorePatterns": [
     {
       "pattern": "^http://localhost"

.pre-commit-config.yaml

@@ -11,6 +11,7 @@ repos:
       - id: check-toml
       - id: check-xml
       - id: check-yaml
+        args: [--allow-multiple-documents]
       - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending
@@ -24,7 +25,7 @@ repos:
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v4.0.0-alpha.8
+    rev: v3.1.0
     hooks:
       - id: prettier
 

.prettierignore

@@ -1,2 +1,3 @@
-*.param.yaml
+*.yaml
 *.rviz
+*.json

.yamllint.yaml

@@ -1,8 +1,5 @@
 extends: default
 
-ignore: |
-  *.param.yaml
-
 rules:
   braces:
     level: error
@@ -13,10 +10,16 @@ rules:
   document-start:
     level: error
     present: false # Don't need document start markers
+    ignore:
+      - .clang-format # Needs '---' between languages
   line-length: disable # Delegate to Prettier
   truthy:
     level: error
     check-keys: false # To allow 'on' of GitHub Actions
   quoted-strings:
     level: error
     required: only-when-needed # To keep consistent style
+  indentation:
+    spaces: consistent
+    indent-sequences: true
+    check-multi-line-strings: false

README.md

@@ -1,24 +1,28 @@
 # Nebula
 
 ## Welcome to Nebula, the universal sensor driver
+
 Nebula is a sensor driver platform that is designed to provide a unified framework for as wide a variety of devices as possible.
-While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces. 
+While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces.
 Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](https://autoware.org/) project.
 
 ## Documentation
+
 We recommend you get started with the [Nebula Documention](https://tier4.github.io/nebula/).
 Here you will find information about the background of the project, how to install and use with ROS 2, and also how to add new sensors to the Nebula driver.
+
 - [About Nebula](https://tier4.github.io/nebula/about)
 - [Design](https://tier4.github.io/nebula/design)
 - [Supported Sensors](https://tier4.github.io/nebula/supported_sensors)
 - [Installation](https://tier4.github.io/nebula/installation)
 - [Launching with ROS 2](https://tier4.github.io/nebula/usage)
 - [Parameters](https://tier4.github.io/nebula/parameters)
 - [Point cloud types](https://tier4.github.io/nebula/point_types)
-- [Contributing](https://tier4.github.io/nebula/contributing)
+- [Contributing](https://tier4.github.io/nebula/contribute)
 - [Tutorials](https://tier4.github.io/nebula/tutorials)
 
 ## Quick start
+
 Nebula builds with ROS 2 Galactic and Humble.
 
 > **Note**
@@ -39,13 +43,15 @@ rosdep install --from-paths src --ignore-src -y -r
 # Build Nebula
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
+
 To launch Nebula as a ROS 2 node with default parameters for your sensor model:
 
 ```bash
 ros2 launch nebula_ros *sensor_vendor_name*_launch_all_hw.xml sensor_model:=*sensor_model_name*
 ```
 
 For example, for a Hesai Pandar40P sensor:
+
 ```bash
 ros2 launch nebula_ros hesai_launch_all_hw.xml sensor_model:=Pandar40P
 ```

docs/about.md

@@ -1,7 +1,3 @@
 # About Nebula
 
 WIP, please check back soon!
-
-
-
-

docs/contribute.md

@@ -0,0 +1,3 @@
+# Contributing to Nebula
+
+WIP - please check back soon!

docs/hesai_decoder_design.md

@@ -11,17 +11,19 @@ This way, runtime overhead for this generalization is `0`.
 ### Packet formats
 
 For all handled Hesai sensors, the packet structure follows this rough format:
+
 1. (optional) header: static sensor info and feature flags
 2. body: point data
 3. tail and other appendices: timestamp, operation mode info
 
 ### Decoding steps
 
 For all handled Hesai sensors, decoding a packet follows these steps:
+
 ```python
 def unpack(packet):
     parse_and_validate(packet)
-    # return group: one (single-return) or more (multi-return) 
+    # return group: one (single-return) or more (multi-return)
     # blocks that belong to the same azimuth
     for return_group in packet:
         if is_start_of_new_scan(return_group):
@@ -40,17 +42,18 @@ def decode(return_group):
         append to pointcloud
 ```
 
-The steps marked with __*__ are model-specific:
+The steps marked with **\*** are model-specific:
 
-* angle correction
-* timing correction
-* return type assignment
+- angle correction
+- timing correction
+- return type assignment
 
 ### Angle correction
 
 There are two approaches between all the supported sensors:
-* Calibration file based
-* Correction file based (currently only used by AT128)
+
+- Calibration file based
+- Correction file based (currently only used by AT128)
 
 For both approaches, sin/cos lookup tables can be computed.
 However, the resolution and calculation of these tables is different.
@@ -60,7 +63,7 @@ However, the resolution and calculation of these tables is different.
 For each laser channel, a fixed elevation angle and azimuth angle offset are defined in the calibration file.
 Thus, sin/cos for elevation are only a function of the laser channel (not dependent on azimuth) while those for azimuth are a function of azimuth AND elevation.
 
-Lookup tables for elevation can thus be sized with `n_channels`, yielding a maximum size of 
+Lookup tables for elevation can thus be sized with `n_channels`, yielding a maximum size of
 `128 * sizeof(float) = 512B` each.
 
 For azimuth, the size is `n_channels * n_azimuths = n_channels * 360 * azimuth_resolution <= 128 * 36000`.
@@ -94,9 +97,10 @@ While there is a wide range of different supported return modes (e.g. single (fi
 Differences only arise in multi-return (dual or triple) in the output order of the returns, and in the handling of some returns being duplicates (e.g. in dual(first, strongest), the first return coincides with the strongest one).
 
 Here is an exhaustive list of differences:
-* For Dual (First, Last) `0x3B`, 128E3X, 128E4X and XT32 reverse the output order (Last, First)
-* For Dual (Last, Strongest) `0x39`, all sensors except XT32M place the second strongest return in the even block if last == strongest
-* For Dual (First, Strongest) `0x3c`, the same as for `0x39` holds.
+
+- For Dual (First, Last) `0x3B`, 128E3X, 128E4X and XT32 reverse the output order (Last, First)
+- For Dual (Last, Strongest) `0x39`, all sensors except XT32M place the second strongest return in the even block if last == strongest
+- For Dual (First, Strongest) `0x3c`, the same as for `0x39` holds.
 
 For all other return modes, duplicate points are output if the two returns coincide.
 
@@ -119,9 +123,10 @@ Return mode handling has a default implementation that is supplemented by additi
 ### `AngleCorrector`
 
 The angle corrector has three main tasks:
-* compute corrected azimuth/elevation for given azimuth and channel
-* implement `hasScanCompleted()` logic that decides where one scan ends and the next starts
-* compute and provide lookup tables for sin/cos/etc.
+
+- compute corrected azimuth/elevation for given azimuth and channel
+- implement `hasScanCompleted()` logic that decides where one scan ends and the next starts
+- compute and provide lookup tables for sin/cos/etc.
 
 The two angle correction types are calibration-based and correction-based. In both approaches, a file from the sensor is used to extract the angle correction for each azimuth/channel.
 For all approaches, cos/sin lookup tables in the appropriate size are generated (see requirements section above).
@@ -133,9 +138,10 @@ It is a template class taking a sensor type `SensorT` from which packet type, an
 Thus, this unified decoder is an almost zero-cost abstraction.
 
 Its tasks are:
-* parsing an incoming packet
-* managing decode/output point buffers
-* converting all points in the packet using the sensor-specific functions of `SensorT` where necessary
+
+- parsing an incoming packet
+- managing decode/output point buffers
+- converting all points in the packet using the sensor-specific functions of `SensorT` where necessary
 
 `HesaiDecoder<SensorT>` is a subclass of the existing `HesaiScanDecoder` to allow all template instantiations to be assigned to variables of the supertype.
 
@@ -144,32 +150,32 @@ Its tasks are:
 To support a new sensor model, first familiarize with the already implemented decoders.
 Then, consult the new sensor's datasheet and identify the following parameters:
 
-| Parameter | Chapter | Possible values | Notes |
-|-|-|-|-|
-| Header format | 3.1 | `Header12B`, `Header8B`, ... | `Header12B` is the standard and comprises the UDP pre-header and header (6+6B) mentioned in the data sheets |
-| Blocks per packet | 3.1 | `2`, `6`, `10`, ... | |
-| Number of channels | 3.1 | `32`, `40`, `64`, ... |  |
-| Unit format | 3.1 | `Unit3B`, `Unit4B`, ... |  |
-| Angle correction | App. 3 | `CALIBRATION`, `CORRECTION`, ... | The datasheet usually specifies whether a calibration/correction file is used |
-| Timing correction | App. 2 |  | There is usually a block and channel component. These come in the form of formulas/lookup tables. For most sensors, these depend on return mode and for some, features like high resolution mode, alternate firing etc. might change the timing |
-| Return type handling | 3.1 |  | Return modes are handled identically for most sensors but some re-order the returns or replace returns if there are duplicates |
-| Bytes per second | 1.4 | |  |
-| Lowest supported frequency | 1.4 | `5 Hz`, `10 Hz`, ... |  |
-
-| Chapter | Full title |
-|-|-|
-|1.4| Introduction > Specifications|
-|3.1| Data Structure > Point Cloud Data Packet|
-|App. 2| Absolute Time of Point Cloud Data|
-|App. 3| Angle Correction|
+| Parameter                  | Chapter | Possible values                  | Notes                                                                                                                                                                                                                                           |
+| -------------------------- | ------- | -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Header format              | 3.1     | `Header12B`, `Header8B`, ...     | `Header12B` is the standard and comprises the UDP pre-header and header (6+6B) mentioned in the data sheets                                                                                                                                     |
+| Blocks per packet          | 3.1     | `2`, `6`, `10`, ...              |                                                                                                                                                                                                                                                 |
+| Number of channels         | 3.1     | `32`, `40`, `64`, ...            |                                                                                                                                                                                                                                                 |
+| Unit format                | 3.1     | `Unit3B`, `Unit4B`, ...          |                                                                                                                                                                                                                                                 |
+| Angle correction           | App. 3  | `CALIBRATION`, `CORRECTION`, ... | The datasheet usually specifies whether a calibration/correction file is used                                                                                                                                                                   |
+| Timing correction          | App. 2  |                                  | There is usually a block and channel component. These come in the form of formulas/lookup tables. For most sensors, these depend on return mode and for some, features like high resolution mode, alternate firing etc. might change the timing |
+| Return type handling       | 3.1     |                                  | Return modes are handled identically for most sensors but some re-order the returns or replace returns if there are duplicates                                                                                                                  |
+| Bytes per second           | 1.4     |                                  |                                                                                                                                                                                                                                                 |
+| Lowest supported frequency | 1.4     | `5 Hz`, `10 Hz`, ...             |                                                                                                                                                                                                                                                 |
+
+| Chapter | Full title                               |
+| ------- | ---------------------------------------- |
+| 1.4     | Introduction > Specifications            |
+| 3.1     | Data Structure > Point Cloud Data Packet |
+| App. 2  | Absolute Time of Point Cloud Data        |
+| App. 3  | Angle Correction                         |
 
 With this information, create a `PacketMySensor` struct and `SensorMySensor` class.
 Reuse already-defined structs as much as possible (c.f. `Packet128E3X` and `Packet128E4X`).
 
 Implement timing correction in `SensorMySensor` and define the class constants `float MIN_RANGE`,
 `float MAX_RANGE` and `size_t MAX_SCAN_BUFFER_POINTS`.
 The former two are used for filtering out too-close and too-far away points while the latter is used to
-allocate pointcloud buffers. 
+allocate pointcloud buffers.
 Set `MAX_SCAN_BUFFER_POINTS = bytes_per_second / lowest_supported_frequency` from the parameters found above.
 
 If there are any non-standard features your sensor has, implement them as generically as possible to allow for future sensors to re-use your code.

docs/index.md

@@ -1,9 +1,11 @@
 # Welcome to the Nebula documentation
+
 Welcome to the Nebula documentation. Here you will find information about the background of the project, how to install and use with ROS 2, and also how to add new sensors to the Nebula driver.
 
-# About Nebula
+## About Nebula
+
 Nebula is a sensor driver platform that is designed to provide a unified framework for as wide a variety of devices as possible.
-While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces. 
+While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces.
 Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](https://autoware.org/) project. The project aims to provide:
 
 - A universal sensor driver
@@ -15,18 +17,22 @@ Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](
 
 For more information, please refer to [About Nebula](about.md).
 
-# Getting started
+## Getting started
+
 - [Installation](installation.md)
 - [Launching with ROS 2](usage.md)
 
-# Nebula architecture
+## Nebula architecture
+
 - [Design](design.md)
 - [Parameters](parameters.md)
 - [Point cloud types](point_types.md)
 
-# Supported sensors
+## Supported sensors
+
 - [Supported sensors](supported_sensors.md)
 
-# Development
+## Development
+
 - [Tutorials](tutorials.md)
-- [Contributing](contributing.md)
+- [Contributing](contribute.md)

docs/installation.md

@@ -1,11 +1,12 @@
 # Installing Nebula
 
 ## Requirements
+
 Nebula requires ROS 2 (Galactic or Humble) to build the ROS 2 wrapper.
 Please see the [ROS 2 documentation](https://docs.ros.org/en/humble/index.html) for how to install.
 
-
 ## Getting the source and building
+
 > **Note**
 >
 > A [TCP enabled version of ROS' Transport Driver](https://github.com/mojomex/transport_drivers/tree/mutable-buffer-in-udp-callback) is required to use Nebula.
@@ -28,6 +29,7 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ## Testing your build
 
 To run Nebula unit tests:
+
 ```bash
 colcon test --event-handlers console_cohesion+ --packages-above nebula_common
 ```
@@ -36,4 +38,4 @@ Show results:
 
 ```bash
 colcon test-result --all
-```
+```

docs/parameters.md

@@ -118,4 +118,4 @@ Parameters shared by all supported models:
 | min_range        | double | 0.3      | meters, >= 0.3   | Minimum point range published |
 | max_range        | double | 300.0    | meters, <= 300.0 | Maximum point range published |
 | cloud_min_angle  | uint16 | 0        | degrees [0, 360] | FoV start angle               |
-| cloud_max_angle  | uint16 | 359      | degrees [0, 360] | FoV end angle                 |
+| cloud_max_angle  | uint16 | 359      | degrees [0, 360] | FoV end angle                 |

docs/point_types.md

@@ -53,4 +53,4 @@ These definitions can be found in the `nebula_common/include/point_types.hpp`.
 | `return type` | `uint8` |           | Contains the lase return type according to the sensor configuration.       |
 | `azimuth`     | `float` | `degrees` | Contains the azimuth of the current point.                                 |
 | `distance`    | `float` | `m`       | Contains the distance from the sensor origin to this echo on the XY plane. |
-| `timestamp`   | `float` | `ns`      | Contains the relative time to the triggered scan time.                   
+| `timestamp`   | `float` | `ns`      | Contains the relative time to the triggered scan time.                     |