feat(nebula_ros): all sensors json schema support (#155)

* ci(nebula): json-schema workflow

Signed-off-by: amadeuszsz <[email protected]>

* feat(velodyne): add json schema

Signed-off-by: amadeuszsz <[email protected]>

* feat(robosense): add json schema

Signed-off-by: amadeuszsz <[email protected]>

* chore(nebula_ros): remove deprecated config

Signed-off-by: amadeuszsz <[email protected]>

* feat(continental): add radar json schema

Signed-off-by: amadeuszsz <[email protected]>

* refactor(json-schema): change schema abstraction

Signed-off-by: amadeuszsz <[email protected]>

* feat(json-schema): add schema templates

Signed-off-by: amadeuszsz <[email protected]>

* fix(json-schema): remove deprecated script

Signed-off-by: amadeuszsz <[email protected]>

* ci(nebula): use latest param-schema action

Signed-off-by: amadeuszsz <[email protected]>

* feat(json-schema): extend schema template

Signed-off-by: amadeuszsz <[email protected]>

* fix(json-schema): calibration default value

Signed-off-by: amadeuszsz <[email protected]>

* add hesai parameter schema

Signed-off-by: vividf <[email protected]>

* move calibration file below the sensor_model

Signed-off-by: vividf <[email protected]>

* remove python file

Signed-off-by: vividf <[email protected]>

* set default value for pandar yaml

Signed-off-by: vividf <[email protected]>

* remove default parameters in nebula_ros

Signed-off-by: vividf <[email protected]>

* remove default parameter in decoder_wrapper

Signed-off-by: vividf <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): typo

Co-authored-by: Max Schmeller <[email protected]>

* fix(hesai): remove unused var

Signed-off-by: amadeuszsz <[email protected]>

* fix(AT128): correct cloud min/max angles

* fix(ARS548): correct data port default value

* add boundary for AT128

Signed-off-by: vividf <[email protected]>

* docs(json-schema): retry_hw description

Co-authored-by: Max Schmeller <[email protected]>

* docs(json-schema): launch_hw description

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): diag_span minimum

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): ptp_profile enum

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): ptp_transport_type enum

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): ptp_profile default value

Co-authored-by: Max Schmeller <[email protected]>

* fix(json-schema): ptp_transport_type default value

Co-authored-by: Max Schmeller <[email protected]>

---------

Signed-off-by: amadeuszsz <[email protected]>
Signed-off-by: vividf <[email protected]>
Co-authored-by: vividf <[email protected]>
Co-authored-by: Max Schmeller <[email protected]>

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

@@ -0,0 +1,39 @@
+name: json-schema-check
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-latest
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/**/*.param.yaml'
+
+  json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@main
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"

nebula_ros/config/lidar/hesai/Pandar128E4X.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0 
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: Pandar128E4X
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 600
+    return_mode: Dual
+    ptp_profile: automotive
+    ptp_domain: 0
+    ptp_transport_type: L2
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/Pandar40P.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: Pandar40P
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 600
+    return_mode: Dual
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/Pandar64.param.yaml

@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: Pandar64
+    rotation_speed: 600
+    return_mode: Dual
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/PandarAT128.param.yaml

@@ -0,0 +1,27 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    correction_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 30
+    cloud_max_angle: 150
+    scan_phase: 30.0
+    sensor_model: PandarAT128
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 200
+    return_mode: Dual
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/PandarQT128.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true 
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: PandarQT128
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 600
+    return_mode: LastStrongest
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/PandarQT64.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: PandarQT64
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 600
+    return_mode: Dual
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1

nebula_ros/config/lidar/hesai/PandarXT32.param.yaml

@@ -0,0 +1,26 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 10110
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    frame_id: hesai
+    diag_span: 1000
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: PandarXT32
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv
+    rotation_speed: 600
+    return_mode: Dual
+    ptp_profile: "1588v2"
+    ptp_domain: 0
+    ptp_transport_type: UDP
+    ptp_switch_type: TSN
+    retry_hw: true
+    dual_return_distance_threshold: 0.1