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feat: allow to launch hardware in listen mode (#210)
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* Add flag to disable communication with hesai sensor

* Add flag to disable communication with velodyne sensor

* Skip setting parameters to sensor onConfigChange silently
To be consistent with setup_sensor parameter

* ci(pre-commit): autofix

* Review fixes: Rename communicate_with_sensor -> udp_only

* Review fixes: Log info when UDP-only mode is enabled

* Review fixes: Fix schemas

* Review fixes: Rephrase docs

* ci(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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msz-rai and pre-commit-ci[bot] authored Oct 25, 2024
1 parent e14065c commit 214373a
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54 changes: 28 additions & 26 deletions docs/parameters.md
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Expand Up @@ -60,21 +60,22 @@ Parameters shared by all supported models:

### Hardware interface parameters

| Parameter | Type | Default | Accepted values | Description |
| ------------------------------ | ------ | --------------- | ----------------- | ------------------------------ |
| frame_id | string | hesai | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| rotation_speed | uint16 | 600 | | Rotation speed |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| dual_return_distance_threshold | double | 0.1 | | Dual return distance threshold |
| diag_span | uint16 | 1000 | milliseconds, > 0 | Diagnostic span |
| setup_sensor | bool | True | True, False | Configure sensor settings |
| Parameter | Type | Default | Accepted values | Description |
| ------------------------------ | ------ | --------------- | ----------------- | ---------------------------------------------------------------------------------------- |
| frame_id | string | hesai | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| rotation_speed | uint16 | 600 | | Rotation speed |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| dual_return_distance_threshold | double | 0.1 | | Dual return distance threshold |
| diag_span | uint16 | 1000 | milliseconds, > 0 | Diagnostic span |
| setup_sensor | bool | True | True, False | Configure sensor settings |
| udp_only | bool | False | True, False | Use UDP protocol only (settings synchronization and diagnostics publishing are disabled) |

### Driver parameters

Expand All @@ -97,17 +98,18 @@ Parameters shared by all supported models:

### Hardware interface parameters

| Parameter | Type | Default | Accepted values | Description |
| --------------- | ------ | --------------- | ----------------- | --------------- |
| frame_id | string | velodyne | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| Parameter | Type | Default | Accepted values | Description |
| --------------- | ------ | --------------- | ----------------- | ---------------------------------------------------------------------------------------- |
| frame_id | string | velodyne | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| udp_only | bool | False | True, False | Use UDP protocol only (settings synchronization and diagnostics publishing are disabled) |

### Driver parameters

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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar128E4X.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar40P.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar64.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarAT128.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
correction_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarQT128.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarQT64.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarXT32.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarXT32M.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLP16.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLP32.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLS128.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
udp_only: false
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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4 changes: 3 additions & 1 deletion nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
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Expand Up @@ -27,7 +27,8 @@ class HesaiHwInterfaceWrapper
public:
HesaiHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config,
bool use_udp_only = false);

void on_config_change(
const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
Expand All @@ -41,5 +42,6 @@ class HesaiHwInterfaceWrapper
rclcpp::Logger logger_;
nebula::Status status_;
bool setup_sensor_;
bool use_udp_only_;
};
} // namespace nebula::ros
4 changes: 3 additions & 1 deletion nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp
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Expand Up @@ -29,7 +29,8 @@ class VelodyneHwInterfaceWrapper
public:
VelodyneHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config);
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config,
bool use_udp_only = false);

void on_config_change(
const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & new_config);
Expand All @@ -43,5 +44,6 @@ class VelodyneHwInterfaceWrapper
rclcpp::Logger logger_;
nebula::Status status_;
bool setup_sensor_;
bool use_udp_only_;
};
} // namespace nebula::ros
4 changes: 4 additions & 0 deletions nebula_ros/schema/Pandar128E4X.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -109,6 +112,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/Pandar40P.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -100,6 +103,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/Pandar64.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -97,6 +100,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/PandarAT128.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -120,6 +123,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"correction_file",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/PandarQT128.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -103,6 +106,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/PandarQT64.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -100,6 +103,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
Expand Down
4 changes: 4 additions & 0 deletions nebula_ros/schema/PandarXT32.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -103,6 +106,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
Expand Down
4 changes: 4 additions & 0 deletions nebula_ros/schema/PandarXT32M.schema.json
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Expand Up @@ -30,6 +30,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -103,6 +106,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"diag_span",
"cloud_min_angle",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/VLP16.schema.json
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Expand Up @@ -27,6 +27,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -72,6 +75,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"advanced_diagnostics",
"diag_span",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/VLP32.schema.json
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Expand Up @@ -27,6 +27,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -72,6 +75,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"advanced_diagnostics",
"diag_span",
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4 changes: 4 additions & 0 deletions nebula_ros/schema/VLS128.schema.json
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Expand Up @@ -27,6 +27,9 @@
"setup_sensor": {
"$ref": "sub/hardware.json#/definitions/setup_sensor"
},
"udp_only": {
"$ref": "sub/hardware.json#/definitions/udp_only"
},
"frame_id": {
"$ref": "sub/topic.json#/definitions/frame_id"
},
Expand Down Expand Up @@ -72,6 +75,7 @@
"packet_mtu_size",
"launch_hw",
"setup_sensor",
"udp_only",
"frame_id",
"advanced_diagnostics",
"diag_span",
Expand Down
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