reword later

nebula_messages/nebula_msgs/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.14)
+project(nebula_msgs)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_EXTENSIONS OFF)
+endif ()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif ()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/RawPacketStamped.msg"
+        DEPENDENCIES
+        builtin_interfaces
+        )
+
+ament_package()

nebula_messages/nebula_msgs/msg/RawPacketStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+uint8[] data

nebula_messages/nebula_msgs/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>nebula_msgs</name>
+  <version>0.0.0</version>
+  <description>
+    ROS message definitions for timestamped UDP packets.
+  </description>
+  <maintainer email="[email protected]">Max Schmeller</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

nebula_ros/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(nebula_decoders REQUIRED)
 find_package(nebula_hw_interfaces REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
+find_package(nebula_msgs REQUIRED)
 
 include_directories(
         include

nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp

@@ -15,8 +15,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
+#include "nebula_msgs/msg/raw_packet_stamped.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
@@ -72,23 +71,21 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   Status Shutdown() override;
 
 private:
-  /// @brief Initializing ros wrapper
+  /// @brief Initialize pointcloud decoder
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
+  /// @param correction_configuration CorrectionConfiguration for this driver (only for AT128, ignored otherwise)
   /// @return Resulting status
   Status InitializeCloudDriver(
     const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
     const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
+    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
+
+  Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) {
+      return InitializeCloudDriver(sensor_configuration, calibration_configuration, nullptr);
+    }
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
@@ -188,7 +185,10 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
+
+  rclcpp::Publisher<nebula_msgs::msg::RawPacketStamped>::SharedPtr packet_pub_;
+  rclcpp::Subscription<nebula_msgs::msg::RawPacketStamped>::SharedPtr packet_sub_;
+
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;

nebula_ros/launch/hesai_launch_all_hw.xml

@@ -27,8 +27,6 @@
     <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
     <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
     <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
-    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
-    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
     <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
     <arg name="debug_logging" default="False" description="Launches Monitor/HW Interfaces and calibration acquisition"/>
 
@@ -55,14 +53,12 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
         <param name="retry_hw" value="$(var retry_hw)"/>
         <param name="ptp_profile" value="$(var ptp_profile)"/>
         <param name="ptp_domain" value="$(var ptp_domain)"/>
         <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
         <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
 
         <param name="diag_span" value="$(var diag_span)"/>
-        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
     </node>
 </launch>

nebula_ros/package.xml

@@ -24,6 +24,7 @@
   <depend>yaml-cpp</depend>
   <depend>velodyne_msgs</depend>
   <depend>robosense_msgs</depend>
+  <depend>nebula_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>