Merge branch 'hires_mode_support' of github.com:mojomex/nebula into h…

…ires_mode_support
tier4 · Jul 4, 2024 · 8dff4d9 · 8dff4d9
2 parents 0247d39 + 3780caf
commit 8dff4d9
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Showing 6 changed files with 26 additions and 12 deletions.
diff --git a/build_depends.repos b/build_depends.repos
@@ -8,4 +8,4 @@ repositories:
   ros2_socketcan:
     type: git
     url: https://github.com/knzo25/ros2_socketcan
-    version: feat/continental_fd
+    version: feat/continental_fd
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -55,8 +55,7 @@ inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration con
      << ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle
      << ", DualReturnDistanceThreshold:" << arg.dual_return_distance_threshold
      << ", PtpProfile:" << arg.ptp_profile << ", PtpDomain:" << std::to_string(arg.ptp_domain)
-     << ", PtpTransportType:" << arg.ptp_transport_type
-     << ", PtpSwitchType:" << arg.ptp_switch_type
+     << ", PtpTransportType:" << arg.ptp_transport_type << ", PtpSwitchType:" << arg.ptp_switch_type
      << ", HighResolutionMode:" << arg.hires_mode;
   return os;
 }

diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -503,7 +503,8 @@ HesaiLidarRangeAll HesaiHwInterface::GetLidarRange()
   return hesai_range_all;
 }
 
-Status HesaiHwInterface::SetHighResolutionMode(bool enable) {
+Status HesaiHwInterface::SetHighResolutionMode(bool enable)
+{
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(enable ? 0x01 : 0x00);
 
@@ -512,7 +513,8 @@ Status HesaiHwInterface::SetHighResolutionMode(bool enable) {
   return Status::OK;
 }
 
-bool HesaiHwInterface::GetHighResolutionMode() {
+bool HesaiHwInterface::GetHighResolutionMode()
+{
   auto response_or_err = SendReceive(PTC_COMMAND_GET_HIGH_RESOLUTION_MODE);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
@@ -950,7 +952,6 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
     auto hires_currently_enabled = GetHighResolutionMode();
 
     if (hires_currently_enabled != sensor_configuration->hires_mode) {
-
       PrintInfo("current lidar hires_mode: " + std::to_string(hires_currently_enabled));
       PrintInfo(
         "current configuration hires_mode: " + std::to_string(sensor_configuration->hires_mode));

diff --git a/nebula_ros/launch/continental_launch_all_hw.xml b/nebula_ros/launch/continental_launch_all_hw.xml
@@ -17,7 +17,7 @@
             <remap from="steering_angle_input" to="$(var steering_angle_topic)"/>
         </node>
     </group>
-    
+
     <group if="$(eval &quot;'$(var sensor_model)' == 'SRR520' &quot;)" >
 
         <node pkg="nebula_ros" exec="continental_srr520_ros_wrapper_node" name="nebula_continental_srr520" output="screen">

diff --git a/nebula_ros/schema/SRR520.schema.json b/nebula_ros/schema/SRR520.schema.json
@@ -60,10 +60,14 @@
           "$ref": "#/definitions/SRR520"
         }
       },
-      "required": ["ros__parameters"],
+      "required": [
+        "ros__parameters"
+      ],
       "additionalProperties": false
     }
   },
-  "required": ["/**"],
+  "required": [
+    "/**"
+  ],
   "additionalProperties": false
 }
diff --git a/nebula_ros/schema/sub/communication.json b/nebula_ros/schema/sub/communication.json
@@ -72,7 +72,11 @@
     "ptp_profile": {
       "type": "string",
       "default": "1588v2",
-      "enum": ["1588v2", "802.1as", "automotive"],
+      "enum": [
+        "1588v2",
+        "802.1as",
+        "automotive"
+      ],
       "description": "PTP profile."
     },
     "ptp_domain": {
@@ -85,13 +89,19 @@
     "ptp_transport_type": {
       "type": "string",
       "default": "UDP",
-      "enum": ["UDP", "L2"],
+      "enum": [
+        "UDP",
+        "L2"
+      ],
       "description": "1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)."
     },
     "ptp_switch_type": {
       "type": "string",
       "default": "TSN",
-      "enum": ["TSN", "NON_TSN"],
+      "enum": [
+        "TSN",
+        "NON_TSN"
+      ],
       "description": "For automotive profile,'TSN' or 'NON_TSN'."
     },
     "receiver_timeout_sec": {