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refactor(hesai)!: combine Hesai ROS wrappers into a single node #127
Commits on May 22, 2024
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refactor(nebula_ros): combine Hesai wrapper nodes into one
This is step one of the single node refactoring of Nebula. In this step, only the three Hesai wrapper nodes were combined into one, and no optimizations have been done that are made possible by this refactoring. The next step is to do those optimizations (e.g. get rid of unnecessary pointcloud copying).
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feat(hesai_ros_wrapper: add thread-safe queue between udp receiver an…
…d decoder, decode in separate thread
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fix(hesai_hw_interface): add error handling
* check PTC command error codes, throw exception if necessary * perform size checks before parsing responses * emit errors on too-large payload size
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feat(hesai_ros_wrapper): print warning when connected to HW and recei…
…ving /pandar_packets
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feat(nebula_launch.py): throw error when trying to launch Hesai senso…
…r and refer to hesai_launch_all_hw.xml
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fix(hesai_decoder): initialize last_phase to prevent empty pointcloud…
… published on startup
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fix(hesai_hw_interface): add missing check for PTC error, make error …
…type more readable
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fix(hesai/decoder_wrapper): store downloaded sensor calibration witho…
…ut colliding filenames
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chore(nebula_examples,nebula_tests): remove more dangling comments an…
…d improve formatting
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