feat/record only mode

[drwnz]

PR Type

• New Feature

Related Links

Description

Adds a new parameter to Seyond sensors: publish_pointcloud.
When this is set to true, the pointcloud is published. When set to false, packets are published to nebula_packets but no decoding is performed. This reduces CPU load significantly.

Review Procedure

Launch with the following combinations and test operation:

Normal mode: connected to sensor, nebula_points should be viewable in rviz, nebula_packets is present
ros2 launch nebula_ros seyond_launch_all_hw.xml host_ip:=172.168.1.1 sensor_ip:=172.168.1.10 sensor_model:=Falcon data_port:=8010 publish_pointcloud:=true launch_hw:=true

Record only mode mode: connected to sensor, nebula_points is not published, nebula_packets is present
ros2 launch nebula_ros seyond_launch_all_hw.xml host_ip:=172.168.1.1 sensor_ip:=172.168.1.10 sensor_model:=Falcon data_port:=8010 publish_pointcloud:=false launch_hw:=true

Replay mode: not connected to sensor, nebula_packets is provided by a rosbag replay, and nebula_points is published
ros2 launch nebula_ros seyond_launch_all_hw.xml host_ip:=172.168.1.1 sensor_ip:=172.168.1.10 sensor_model:=Falcon data_port:=8010 publish_pointcloud:=true launch_hw:=false

(The nonsense mode of publish_pointcloud:=false launch_hw:=false is also available but results in no pointcloud)

Remarks

Pre-Review Checklist for the PR Author

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Checklist for the PR Reviewer

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• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

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• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.