From 633cc014e37dd46de818b4d0f5f5ca27b9562def Mon Sep 17 00:00:00 2001
From: JonasKrug <JonasKrug@users.noreply.github.com>
Date: Wed, 2 Oct 2024 03:33:00 +0200
Subject: [PATCH 1/2] chore: fix typos in the SetVelocity Vehicle function
(#204)
---
.../continental_ars548_hw_interface.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
index cd1053731..679f4d05e 100644
--- a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
@@ -448,15 +448,15 @@ Status ContinentalARS548HwInterface::SetVelocityVehicle(float velocity_kmh)
constexpr uint8_t VELOCITY_VEHICLE_LENGTH = 28;
const int VELOCITY_VEHICLE_UDP_SIZE = 36;
- VelocityVehiclePacket steering_angle_front_axle_packet{};
+ VelocityVehiclePacket velocity_vehicle_packet{};
static_assert(sizeof(VelocityVehiclePacket) == VELOCITY_VEHICLE_UDP_SIZE);
- steering_angle_front_axle_packet.header.service_id = VELOCITY_VEHICLE_SERVICE_ID;
- steering_angle_front_axle_packet.header.method_id = VELOCITY_VEHICLE_METHOD_ID;
- steering_angle_front_axle_packet.header.length = VELOCITY_VEHICLE_LENGTH;
- steering_angle_front_axle_packet.velocity_vehicle = velocity_kmh;
+ velocity_vehicle_packet.header.service_id = VELOCITY_VEHICLE_SERVICE_ID;
+ velocity_vehicle_packet.header.method_id = VELOCITY_VEHICLE_METHOD_ID;
+ velocity_vehicle_packet.header.length = VELOCITY_VEHICLE_LENGTH;
+ velocity_vehicle_packet.velocity_vehicle = velocity_kmh;
std::vector<uint8_t> send_vector(sizeof(VelocityVehiclePacket));
- std::memcpy(send_vector.data(), &steering_angle_front_axle_packet, sizeof(VelocityVehiclePacket));
+ std::memcpy(send_vector.data(), &velocity_vehicle_packet, sizeof(VelocityVehiclePacket));
if (!sensor_udp_driver_ptr_->sender()->isOpen()) {
return Status::ERROR_1;
From d7cb4a5d3965db2dd9465bb989974e92f1ed3f47 Mon Sep 17 00:00:00 2001
From: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Date: Wed, 2 Oct 2024 10:37:00 +0900
Subject: [PATCH 2/2] docs: simplify installation instructions (#203)
* docs: remove obsolete note about transport drivers
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
* docs: remove recommendation to clone into `src` directory
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
* chore: update link to about page
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
* chore: add cmake ignore to meta package
Signed-off-by: David Wong <david.wong@tier4.jp>
---------
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
Signed-off-by: David Wong <david.wong@tier4.jp>
Co-authored-by: David Wong <david.wong@tier4.jp>
---
README.md | 18 ++++++------------
docs/installation.md | 16 +++++-----------
nebula_sensor_driver/CMakeLists.txt | 1 +
3 files changed, 12 insertions(+), 23 deletions(-)
diff --git a/README.md b/README.md
index a41137d4c..2d533454c 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](
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)
+- [About Nebula](https://tier4.github.io/nebula)
- [Design](https://tier4.github.io/nebula/design)
- [Supported Sensors](https://tier4.github.io/nebula/supported_sensors)
- [Installation](https://tier4.github.io/nebula/installation)
@@ -32,24 +32,18 @@ Nebula builds with ROS 2 Galactic and Humble.
> **Note**
>
> Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.
->
-> **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.
-> It is installed automatically into your workspace using the below commands. However, if you already have ROS transport driver binaries installed, you will have to uninstall them to avoid conflicts (replace `humble` with your ROS distribution):
-> `sudo apt remove ros-humble-udp-driver ros-humble-io-context`
To build Nebula run the following commands in your workspace:
```bash
# In workspace
-mkdir src
-git clone https://github.com/tier4/nebula.git src
+git clone https://github.com/tier4/nebula.git
+cd nebula
# Import dependencies
-vcs import src < src/build_depends.repos
-rosdep install --from-paths src --ignore-src -y -r
+vcs import < build_depends.repos
+rosdep install --from-paths . --ignore-src -y -r
# Build Nebula
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1
```
To launch Nebula as a ROS 2 node with default parameters for your sensor model:
diff --git a/docs/installation.md b/docs/installation.md
index 5f006bc35..957ab82f2 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -10,24 +10,18 @@ Please see the [ROS 2 documentation](https://docs.ros.org/en/humble/index.html)
> **Note**
>
> Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.
->
-> **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.
-> It is installed automatically into your workspace using the below commands. However, if you already have ROS transport driver binaries installed, you will have to uninstall them to avoid conflicts (replace `humble` with your ROS distribution):
-> `sudo apt remove ros-humble-udp-driver ros-humble-io-context`
To build Nebula run the following commands in your workspace:
```bash
# In workspace
-mkdir src
-git clone https://github.com/tier4/nebula.git src
+git clone https://github.com/tier4/nebula.git
+cd nebula
# Import dependencies
-vcs import src < src/build_depends.repos
-rosdep install --from-paths src --ignore-src -y -r
+vcs import < build_depends.repos
+rosdep install --from-paths . --ignore-src -y -r
# Build Nebula
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1
```
## Testing your build
diff --git a/nebula_sensor_driver/CMakeLists.txt b/nebula_sensor_driver/CMakeLists.txt
index f9a39ac72..fccfa36f4 100644
--- a/nebula_sensor_driver/CMakeLists.txt
+++ b/nebula_sensor_driver/CMakeLists.txt
@@ -1,5 +1,6 @@
cmake_minimum_required(VERSION 3.14)
project(nebula_sensor_driver)
+set(ignoreMe "${CMAKE_EXPORT_COMPILE_COMMANDS}")
find_package(ament_cmake REQUIRED)
ament_package()