chore!: upgrade to Nebula v0.2.1

[mojomex]

Description

This PR changes the Nebula version to v0.2.0.

This is a breaking change for the way Nebula is launched, and thus, this PR has to be merged in tandem with

• chore(nebula_node_container): make launchers work with Nebula v0.2.0 sample_sensor_kit_launch#106
• chore(nebula_node_container): make launcher work with Nebula v0.2.0 single_lidar_sensor_kit_launch#2

Similar PRs have been made to TIER IV's internal repos, for example:

• TIER IV INTERNAL LINK

I will merge all PRs in tandem once all of them get approved and have passing CI.
Please do not merge them independently.

Tests performed

Logging simulator with sample_sensor_kit succeeded, all pointclouds were being published:

The logs are looking fine too:
sample_sensor_kit.log

As for single_lidar_sensor_kit, it failed with an unrelated error:

[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /home/maxschmeller/autoware/install/tier4_vehicle_launch/share/tier4_vehicle_launch/urdf/vehicle.xacro vehicle_model:=sample_vehicle sensor_model:=single_lidar_sensor_kit config_dir:=/home/maxschmeller/autoware/install/individual_params/share/individual_params/config/default/single_lidar_sensor_kit
Captured stderr output: error: [Errno 2] No such file or directory: '/home/maxschmeller/autoware/install/individual_params/share/individual_params/config/default/single_lidar_sensor_kit/sensors_calibration.yaml' 
when evaluating expression 'xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')' 
when evaluating expression 'calibration['base_link']['sensor_kit_base_link']['x']'
when instantiating macro: sensor_kit_macro (/home/maxschmeller/autoware/install/single_lidar_sensor_kit_description/share/single_lidar_sensor_kit_description/urdf/sensor_kit.xacro)

If anyone knows how to properly launch it (I didn't find any documentation on that), please let me know.

Effects on system behavior

Nebula pointclouds will experience less packet loss and Nebula should be more stable.

Interface changes

• Nebula now always publishes to /diagnostics when launch_driver is enabled.
• Nebula only accepts /<vendor>_packets when launch_driver is disabled (= no real sensor is connected)

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[xmfcx]

Before these PRs, the rosbag replay sim works correctly:

Now I will test with these PRs applied.

[xmfcx]

test with pr branches

In the following failing test I did:

git pull
git checkout chore/upgrade-to-nebula-v0.2.0
vcs import src < autoware.repos
vcs pull src
cd src/sensor_kit/sample_sensor_kit_launch
git checkout chore/upgrade-to-nebula-v0.2.0
cd ../../..
cd src/sensor_kit/single_lidar_sensor_kit_launch
git checkout chore/upgrade-to-nebula-v0.2.0
cd ../../..
colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

2024-09-25.19-00-35.mp4

I've checked out to all the relevant branches and did a clean build, autoware is not working correctly in the rosbag replay sim demo.

test with main branch

Now I will re-do the same test in the main branch to make sure.

2024-09-25.19-12-31.mp4

I've also ran it in 1.0 rate and it still works in main branch.

Something is wrong with the new configuration.

I've double checked the pr branches and new config behaved as shown in the video again.

[mojomex]

The main issue was this bug introduced with the latest Nebula version, which cause the cloud timestamps to be rounded down to the nearest second:

• fix(velodyne): propagate sub-second part of timestamps to pointcloud timestamp tier4/nebula#201

After fixing it, the simulation looks much better, but due to the way scan cutting and the VelodyneScan message handling changed, there might be a timing issue with that too, causing the LiDARs to appear misaligned/lagging w.r.t each other.
I'll investigate that next.

[mojomex]

@xmfcx
It looks like it's working properly now that

• fix(velodyne): propagate sub-second part of timestamps to pointcloud timestamp tier4/nebula#201

has been merged:

timestamp-fix.mp4

[xmfcx]

@mojomex Thanks for updating. But from your video, I see slight jittering in the point cloud and subsequently the point cloud localization.

I will test this again regardless to see and compare it before&after the PR.

[mojomex]

Hi @xmfcx, comparing it to the main branch I don't really see a difference. As I see it, main also has jitter. Could you go into more detail of what you think is not right?

Thank you for your time 🙇

[xmfcx]

@mojomex Sorry for the delay, yesterday I was testing the latest AWSIM Labs - Autoware latest main incompabilities and fixes. I didn't have time to test this. 🙇

Today I will test it again.

Hi @xmfcx, comparing it to the main branch I don't really see a difference. As I see it, main also has jitter.

That is good to hear 👍

[mojomex]

@xmfcx Sorry if you already started evaluating: I implemented the above-mentioned fix (tier4/nebula#201) but did not update the version tag referenced by Autoware. Will fix in a minute 🙇

[xmfcx]

Test 2

I will keep updating this message as I make the tests.

Latest main

autoware_2024-10-03_10-38-56_UTC.repos

2024-10-03.13-34-55.mp4

Nebula 0.2.1

git pull
git checkout chore/upgrade-to-nebula-v0.2.0
vcs import src < autoware.repos
vcs pull src
cd src/sensor_kit/sample_sensor_kit_launch
git checkout chore/upgrade-to-nebula-v0.2.0
cd ../../..
cd src/sensor_kit/single_lidar_sensor_kit_launch
git checkout chore/upgrade-to-nebula-v0.2.0
cd ../../..
colcon build --symlink-install --event-handlers=console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

2024-10-03.14-09-00.mp4

It works!