chore: make config field names more readable when pretty-printing

nebula_common/include/nebula_common/continental/continental_ars548.hpp

@@ -55,18 +55,18 @@ struct ContinentalARS548SensorConfiguration : EthernetSensorConfigurationBase
 inline std::ostream & operator<<(
   std::ostream & os, ContinentalARS548SensorConfiguration const & arg)
 {
-  os << "ContinentalARS548SensorConfiguration:" << '\n';
+  os << "Continental ARS548 Sensor Configuration:" << '\n';
   os << (EthernetSensorConfigurationBase)(arg) << '\n';
-  os << "MulticastIP: " << arg.multicast_ip << '\n';
-  os << "BaseFrame: " << arg.base_frame << '\n';
-  os << "ObjectFrame: " << arg.object_frame << '\n';
-  os << "ConfigurationHostPort: " << arg.configuration_host_port << '\n';
-  os << "ConfigurationSensorPort: " << arg.configuration_sensor_port << '\n';
-  os << "UseSensorTime: " << arg.use_sensor_time << '\n';
-  os << "ConfigurationVehicleLength: " << arg.configuration_vehicle_length << '\n';
-  os << "ConfigurationVehicleWidth: " << arg.configuration_vehicle_width << '\n';
-  os << "ConfigurationVehicleHeight: " << arg.configuration_vehicle_height << '\n';
-  os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
+  os << "Multicast IP: " << arg.multicast_ip << '\n';
+  os << "Base Frame: " << arg.base_frame << '\n';
+  os << "Object Frame: " << arg.object_frame << '\n';
+  os << "Host Port: " << arg.configuration_host_port << '\n';
+  os << "Sensor Port: " << arg.configuration_sensor_port << '\n';
+  os << "UseSensor Time: " << arg.use_sensor_time << '\n';
+  os << "Vehicle Length: " << arg.configuration_vehicle_length << '\n';
+  os << "Vehicle Width: " << arg.configuration_vehicle_width << '\n';
+  os << "Vehicle Height: " << arg.configuration_vehicle_height << '\n';
+  os << "Vehicle Wheelbase: " << arg.configuration_vehicle_wheelbase;
   return os;
 }
 

nebula_common/include/nebula_common/continental/continental_srr520.hpp

@@ -50,11 +50,11 @@ struct ContinentalSRR520SensorConfiguration : CANSensorConfigurationBase
 inline std::ostream & operator<<(
   std::ostream & os, ContinentalSRR520SensorConfiguration const & arg)
 {
-  os << "ContinentalSRR520SensorConfiguration:" << '\n';
+  os << "Continental SRR520 Sensor Configuration:" << '\n';
   os << (CANSensorConfigurationBase)(arg) << '\n';
-  os << "BaseFrame: " << arg.base_frame << '\n';
-  os << "SyncUseBusTime: " << arg.sync_use_bus_time << '\n';
-  os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
+  os << "Base Frame: " << arg.base_frame << '\n';
+  os << "Sync Use Bus Time: " << arg.sync_use_bus_time << '\n';
+  os << "Vehicle Wheelbase: " << arg.configuration_vehicle_wheelbase;
   return os;
 }
 

nebula_common/include/nebula_common/hesai/hesai_common.hpp

@@ -50,18 +50,18 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration const & arg)
 {
-  os << "HesaiSensorConfiguration:" << '\n';
+  os << "Hesai Sensor Configuration:" << '\n';
   os << (LidarConfigurationBase)(arg) << '\n';
-  os << "GnssPort: " << arg.gnss_port << '\n';
-  os << "ScanPhase: " << arg.scan_phase << '\n';
-  os << "RotationSpeed: " << arg.rotation_speed << '\n';
-  os << "FOV(Start): " << arg.cloud_min_angle << '\n';
-  os << "FOV(End): " << arg.cloud_max_angle << '\n';
-  os << "DualReturnDistanceThreshold: " << arg.dual_return_distance_threshold << '\n';
-  os << "PtpProfile: " << arg.ptp_profile << '\n';
-  os << "PtpDomain: " << std::to_string(arg.ptp_domain) << '\n';
-  os << "PtpTransportType: " << arg.ptp_transport_type << '\n';
-  os << "PtpSwitchType: " << arg.ptp_switch_type;
+  os << "GNSS Port: " << arg.gnss_port << '\n';
+  os << "Scan Phase: " << arg.scan_phase << '\n';
+  os << "Rotation Speed: " << arg.rotation_speed << '\n';
+  os << "FoV Start: " << arg.cloud_min_angle << '\n';
+  os << "FoV End: " << arg.cloud_max_angle << '\n';
+  os << "Dual Return Distance Threshold: " << arg.dual_return_distance_threshold << '\n';
+  os << "PTP Profile: " << arg.ptp_profile << '\n';
+  os << "PTP Domain: " << std::to_string(arg.ptp_domain) << '\n';
+  os << "PTP Transport Type: " << arg.ptp_transport_type << '\n';
+  os << "PTP Switch Type: " << arg.ptp_switch_type;
   return os;
 }
 

nebula_common/include/nebula_common/nebula_common.hpp

@@ -497,8 +497,8 @@ struct LidarConfigurationBase : EthernetSensorConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase const & arg)
 {
-  os << "SensorModel: " << arg.sensor_model << '\n';
-  os << "FrameID: " << arg.frame_id;
+  os << "Sensor Model: " << arg.sensor_model << '\n';
+  os << "Frame ID: " << arg.frame_id;
   return os;
 }
 
@@ -509,9 +509,9 @@ inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase cons
 inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationBase const & arg)
 {
   os << (SensorConfigurationBase)(arg) << '\n';
-  os << "HostIP: " << arg.host_ip << '\n';
-  os << "SensorIP: " << arg.sensor_ip << '\n';
-  os << "DataPort: " << arg.data_port;
+  os << "Host IP: " << arg.host_ip << '\n';
+  os << "Sensor IP: " << arg.sensor_ip << '\n';
+  os << "Data Port: " << arg.data_port;
   return os;
 }
 
@@ -523,10 +523,10 @@ inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase c
 {
   os << (SensorConfigurationBase)(arg) << '\n';
   os << "Interface: " << arg.interface << '\n';
-  os << "ReceiverTimeoutSec: " << arg.receiver_timeout_sec << '\n';
-  os << "SenderTimeoutSec: " << arg.sender_timeout_sec << '\n';
+  os << "Receiver Timeout (s): " << arg.receiver_timeout_sec << '\n';
+  os << "Sender Timeout (s): " << arg.sender_timeout_sec << '\n';
   os << "Filters: " << arg.filters << '\n';
-  os << "UseBusTime: " << arg.use_bus_time;
+  os << "Use Bus Time: " << arg.use_bus_time;
   return os;
 }
 
@@ -538,10 +538,10 @@ inline std::ostream & operator<<(
   std::ostream & os, nebula::drivers::LidarConfigurationBase const & arg)
 {
   os << (EthernetSensorConfigurationBase)(arg) << '\n';
-  os << "ReturnMode: " << arg.return_mode << '\n';
+  os << "Return Mode: " << arg.return_mode << '\n';
   os << "Frequency: " << arg.frequency_ms << '\n';
   os << "MTU: " << arg.packet_mtu_size << '\n';
-  os << "Use sensor time: " << arg.use_sensor_time;
+  os << "Use Sensor Time: " << arg.use_sensor_time;
   return os;
 }
 

nebula_common/include/nebula_common/robosense/robosense_common.hpp

@@ -46,10 +46,10 @@ struct RobosenseSensorConfiguration : LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, RobosenseSensorConfiguration const & arg)
 {
-  os << "RobosenseSensorConfiguration:" << '\n';
+  os << "Robosense Sensor Configuration:" << '\n';
   os << (LidarConfigurationBase)(arg) << '\n';
-  os << "GnssPort: " << arg.gnss_port << '\n';
-  os << "ScanPhase: " << arg.scan_phase;
+  os << "GNSS Port: " << arg.gnss_port << '\n';
+  os << "Scan Phase: " << arg.scan_phase;
   return os;
 }
 

nebula_common/include/nebula_common/velodyne/velodyne_common.hpp

@@ -39,13 +39,13 @@ struct VelodyneSensorConfiguration : LidarConfigurationBase
 /// @return stream
 inline std::ostream & operator<<(std::ostream & os, VelodyneSensorConfiguration const & arg)
 {
-  os << "VelodyneSensorConfiguration:" << '\n';
+  os << "Velodyne Sensor Configuration:" << '\n';
   os << (LidarConfigurationBase)(arg) << '\n';
-  os << "GnssPort: " << arg.gnss_port << '\n';
-  os << "ScanPhase: " << arg.scan_phase << '\n';
-  os << "RotationSpeed: " << arg.rotation_speed << '\n';
-  os << "FOV(Start): " << arg.cloud_min_angle << '\n';
-  os << "FOV(End): " << arg.cloud_max_angle;
+  os << "GNSS Port: " << arg.gnss_port << '\n';
+  os << "Scan Phase: " << arg.scan_phase << '\n';
+  os << "Rotation Speed: " << arg.rotation_speed << '\n';
+  os << "FoV Start: " << arg.cloud_min_angle << '\n';
+  os << "FoV End: " << arg.cloud_max_angle;
   return os;
 }
 

nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp

@@ -150,7 +150,7 @@ Status HesaiRosOfflineExtractBag::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp

@@ -148,7 +148,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp

@@ -37,7 +37,7 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *config_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 

nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp

@@ -37,7 +37,7 @@ ContinentalSRR520RosWrapper::ContinentalSRR520RosWrapper(const rclcpp::NodeOptio
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *config_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 

nebula_ros/src/hesai/hesai_ros_wrapper.cpp

@@ -26,7 +26,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 

nebula_ros/src/hesai/hw_monitor_wrapper.cpp

@@ -71,7 +71,7 @@ void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
   std::ostringstream os;
   auto hardware_id = info_model_ + ": " + info_serial_;
   diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(logger_, "hardware_id: " + hardware_id);
+  RCLCPP_INFO_STREAM(logger_, "Hardware ID: " + hardware_id);
 
   diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorWrapper::HesaiCheckStatus);
   diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorWrapper::HesaiCheckPtp);

nebula_ros/src/robosense/robosense_ros_wrapper.cpp

@@ -28,7 +28,7 @@ RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 

nebula_ros/src/velodyne/hw_monitor_wrapper.cpp

@@ -52,7 +52,7 @@ void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
   std::ostringstream os;
   auto hardware_id = info_model_ + ": " + info_serial_;
   diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(logger_, "hardware_id" << hardware_id);
+  RCLCPP_INFO_STREAM(logger_, "Hardware ID: " << hardware_id);
 
   if (show_advanced_diagnostics_) {
     diagnostics_updater_.add(

nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp

@@ -26,7 +26,7 @@ VelodyneRosWrapper::VelodyneRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 

nebula_tests/continental/continental_ros_decoder_test_ars548.cpp

@@ -111,7 +111,7 @@ Status ContinentalRosDecoderTest::GetParameters(
     return Status::INVALID_SENSOR_MODEL;
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_tests/continental/continental_ros_decoder_test_srr520.cpp

@@ -113,7 +113,7 @@ Status ContinentalRosDecoderTest::GetParameters(
     return Status::INVALID_SENSOR_MODEL;
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_tests/hesai/hesai_ros_decoder_test.cpp

@@ -246,7 +246,7 @@ Status HesaiRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp

@@ -251,7 +251,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp

@@ -250,7 +250,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }
 

nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp

@@ -254,7 +254,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     }
   }
 
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Sensor Configuration: " << sensor_configuration);
   return Status::OK;
 }