Merge branch 'main' into generic-hesai-decoder

README.md

@@ -3,9 +3,17 @@
 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.
 Nebula provides the following features:
+- Support for Velodyne and Hesai sensors, with other LiDAR vendor support under development
 - ROS 2 interface implementations
-- Abstraction of sensor decoders and hardware interfaces available as libraries
 - TCP/IP and UDP communication implementations
+- Abstraction of sensor decoders and hardware interfaces available as libraries
+- Handling of standard LiDAR functionality, including but not limited to:
+  - Configuration of communication settings such as sensor and host IP addresses and communication ports
+  - Configuration of scan speed, synchronization settings, scan phase, and field of view
+  - Receiving and conversion of UDP packet data into point clouds in Cartesian co-ordinates
+  - Receiving and interpretation of diagnostics information from the sensor
+  - Support for multiple return modes and labelling of return types for each point
+
 
 With a rapidly increasing number of sensor types and models becoming available, and varying levels of vendor and third-party driver support, Nebula creates a centralized driver methodology. We hope that this project will be used to facilitate active collaboration and efficiency in development projects by providing a platform that reduces the need to re-implement and maintain many different sensor drivers. Contributions to extend the supported devices and features of Nebula are always welcome.
 

nebula_common/package.xml

@@ -10,6 +10,7 @@
   <author>Tier IV</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>

nebula_decoders/package.xml

@@ -10,6 +10,7 @@
   <author>Tier IV</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>angles</depend>
   <depend>libpcl-all-dev</depend>

nebula_examples/package.xml

@@ -10,6 +10,7 @@
   <author>Tier IV</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>

nebula_messages/pandar_msgs/package.xml

@@ -3,13 +3,13 @@
   <name>pandar_msgs</name>
   <version>0.0.0</version>
   <description>
-    ROS message definition for the Heisai PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M LiDAR
+    ROS message definition for the Hesai PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M LiDAR
         sensor.
   </description>
   <maintainer email="[email protected]">hirakawa</maintainer>
   <license>Apache 2</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>

nebula_messages/velodyne_msgs/package.xml

@@ -6,7 +6,7 @@
   <maintainer email="[email protected]">Perception Engine</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>std_msgs</depend>

nebula_ros/config/velodyne/VLP32.yaml

@@ -1,25 +1,10 @@
-#nebula_velodyne_hw_interface:
-#nebula_velodyne_hw_monitor:
 /**:
   ros__parameters:
-    sensor_model: "VLP32" # See readme for supported models
-    sensor_ip: "192.168.1.201" # Lidar Sensor IP
-    host_ip: "255.255.255.255" # Broadcast IP from Sensor
+    sensor_model: "VLP32"
+    sensor_ip: "192.168.1.201"
+    host_ip: "255.255.255.255"
     frame_id: "velodyne"
-    data_port: 2368 # LiDAR Data Port
-    gnss_port: 2369 # LiDAR GNSS Port
-    return_mode: "Dual" # See readme for supported return modes
-    scan_phase: 0.0 # Angle where scans begin (degrees, [0.,360.]
-    packet_mtu_size: 1500 # Packet MTU size
-    rotation_speed: 600 # Motor RPM, the sensor's internal spin rate.
-    cloud_min_angle: 0 # Field of View, start degrees.
-    cloud_max_angle: 359 # Field of View, end degrees.
-    diag_span: 1000 # milliseconds
-    advanced_diagnostics: False # original diag
-    min_range: 0.3
-    max_range: 300.0
-    view_width: 360.0
-    calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/velodyne/VLP32.yaml"
+    data_port: 2368
+    gnss_port: 2369
     setup_sensor: True
-
     online: True

nebula_ros/package.xml

@@ -10,6 +10,7 @@
   <author>Tier IV</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>

nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp

@@ -43,6 +43,8 @@ VelodyneDriverRosWrapper::VelodyneDriverRosWrapper(const rclcpp::NodeOptions & o
 void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
   const velodyne_msgs::msg::VelodyneScan::SharedPtr scan_msg)
 {
+  auto t_start = std::chrono::high_resolution_clock::now();
+
   // take packets out of scan msg
   std::vector<velodyne_msgs::msg::VelodynePacket> pkt_msgs = scan_msg->packets;
 
@@ -85,6 +87,9 @@ void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
   }
+
+  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void VelodyneDriverRosWrapper::PublishCloud(

nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp

@@ -266,7 +266,7 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(359).set__step(1);
+    range.set__from_value(0).set__to_value(360).set__step(1);
     descriptor.integer_range = {range};
     this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
     sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
@@ -278,9 +278,9 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(359).set__step(1);
+    range.set__from_value(0).set__to_value(360).set__step(1);
     descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 359, descriptor);
+    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
     sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
   }
 

nebula_tests/package.xml

@@ -10,6 +10,7 @@
   <author>Tier IV</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>