Code

feat: add robosense support#77

Code

Merged

mojomex merged 89 commits intotier4:maintier4/nebula:mainfrom leo-drive:memin/dev/robosense-supportleo-drive/nebula:memin/dev/robosense-supportCopy head branch name to clipboardDec 7, 2023

+4,352-6

Commits

Commits on Dec 6, 2023

• Added Helios and Bpearl as supported models

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  6e8233e

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• Created Robosense hardware interface

  mebasoglu

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• Created hardware interface ROS 2 wrapper for Robosense

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• Creating Robosense decoder

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• Created Robosense angle corrector

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• Created Robosense decoder

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• Created decoder ROS 2 wrapper

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• Fix pragma pack and packet

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• Delete forgotten parenthesis

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• Fix byte order issue

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• Calculate timestamp for each point

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• Consider return type

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• Use scan phase and get distance unit from packet

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• Format code and convert header guards to #pragma once

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• Added time offsets for dual return mode

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• Save calibration file

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• Get calibration from sensor

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• Fix stringstream new line issue

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• Load calibration from sensor by default

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• Close info packet UDP driver after receiving for the first time

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• Fix calibration file format

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• Created hardware monitor

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• Receive DIFOP packet at the same time

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• Refactor hardware monitor

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• Create calibration file name dynamically

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• Get return mode from DIFOP packet

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• Delete comments

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• Get n_returns from sensor config

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• Added dual return distance threshold

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• Created LoadFromStream method

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• Added Bpearl

  mebasoglu

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• Get hardware info of Bpearl

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• Added time offsets for Bpearl

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• Remove calibration configuration from Bpearl hw monitor

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• Fix the format of hardware monitor

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• Check calibration format while loading it

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• Wait for first DIFOP packet before continuing

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• Tidied up the code

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• Fix Bpearl return mode issue

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• Created robosense_msgs

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• Use robosense_msgs on hw interface and decoder

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• Fix package name

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• Publish both MSOP and DIFOP packets from hw interface ros wrapper

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• Subscribe packets on decoder ros wrapper

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• Subscribe to robosense difop packets on hw monitor

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• Updated MAX_SCAN_BUFFER_POINTS

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• Fixed point return type

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• Fixed return mode diagnostic

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• Fixed calibration sign issue

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• Fixed return mode types

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• Deleted unused code

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• Added lidar model to the packet message

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• Deleted hw_interface from decoder ros wrapper

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• Checking model type in decoder ros wrapper

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• Initialize driver for different Bpearl models

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• Added Bpearl v4.0

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• Added Bpearl v4 diag

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• Added Bpearl V4 to hw monitor

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• Fixed packet structs

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• Fix Bpearl v3 timestamp

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• Handle sensor timestamp usage

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• Deleted unnecessary params

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• Fix info driver initialization

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• Fixed diagnostic format

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• Added Robosense to python launch file

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• Deleted unnecessary parts

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• Fix Helios range resolution

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• Fix diagnostic info for Bpearl v3

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• Added generic float function

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• Fixed bpearl diag

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• Fixed Helios diag

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• Fixed getSyncStatus

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• Fix axes

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• Change Helios 5515 name to only Helios

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• Add robosense words to .cspell.json

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• refactor(nebula_common.hpp): convert if chain to switch-case

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• refactor(nebula_decoders): add "using namespace" to simplify big endian types

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• refactor(nebula_decoders): use switch statements over if-else

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• fix(nebula_decoders): add necessary header

  mebasoglu

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• refactor(nebula_decoders): get rid of magic numbers

  mebasoglu

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• refactor(nebula_decoders): add using namespace for boost:endian

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• refactor: get rid of magic numbers

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• chore: add formulas for unpacking difop packet

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• refactor(robosense_hw_monitor): remove unnecessary log

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• fix(robosense_packet.hpp): change nanoseconds to microseconds

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• refactor(robosense_packet.hpp): throw unknown resolution error

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• chore(cspell): add robosense current and voltage words

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• fix(robosense): create corrected channel numbers

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• fix(robosense): handle ptp synchronization

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