fix: correct azimuth offset for vls128

Signed-off-by: badai-nguyen <[email protected]>

nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp

@@ -208,7 +208,8 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
 
           // Correct for the laser rotation as a function of timing during the firings.
           const float azimuth_corrected_f =
-            azimuth + (azimuth_diff * vls_128_laser_azimuth_cache_[firing_order]);
+            azimuth + (azimuth_diff * vls_128_laser_azimuth_cache_[firing_order]) 
+            - corrections.rot_correction * 180.0 / M_PI * 100;
           const uint16_t azimuth_corrected = ((uint16_t)round(azimuth_corrected_f)) % 36000;
 
           if (
@@ -226,13 +227,8 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
               // convert polar coordinates to Euclidean XYZ.
               const float cos_vert_angle = corrections.cos_vert_correction;
               const float sin_vert_angle = corrections.sin_vert_correction;
-              const float cos_rot_correction = corrections.cos_rot_correction;
-              const float sin_rot_correction = corrections.sin_rot_correction;
-
-              const float cos_rot_angle = cos_rot_table_[azimuth_corrected] * cos_rot_correction +
-                                          sin_rot_table_[azimuth_corrected] * sin_rot_correction;
-              const float sin_rot_angle = sin_rot_table_[azimuth_corrected] * cos_rot_correction -
-                                          cos_rot_table_[azimuth_corrected] * sin_rot_correction;
+              const float cos_rot_angle = cos_rot_table_[azimuth_corrected];
+              const float sin_rot_angle = sin_rot_table_[azimuth_corrected];
 
               // Compute the distance in the xy plane (w/o accounting for rotation).
               const float xy_distance = distance * cos_vert_angle;