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refactor(hesai)!: combine Hesai ROS wrappers into a single node #127

Merged
merged 57 commits into from
May 22, 2024
Merged

refactor(hesai)!: combine Hesai ROS wrappers into a single node #127

merged 57 commits into from
May 22, 2024

Commits on May 22, 2024

  1. fix(hesai_decoder): print config instead of config address

    @mojomex
    mojomex committed May 22, 2024
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  2. 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).
    @mojomex
    mojomex committed May 22, 2024
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  3. refactor: remove pandarScan pub/sub, decode one packet at a time

    @mojomex
    mojomex committed May 22, 2024
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  4. reword later

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    mojomex committed May 22, 2024
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  5. temporary progress

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    mojomex committed May 22, 2024
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  6. fix(hesai_ros_wrapper): remove changes wrongly merged during rebase

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  7. fix(hesai_ros_wrapper): increase packet buffering to stop internal pa… 

    …cket loss
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  8. feat(nebula_common): add instrumentation tools

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  9. feat(hesai_ros_wrapper): instrument code on critical path

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  10. disable instrumentation

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  11. feat(hesai): move received buffer into ros message instead of copy

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  12. feat(hesai_ros_wrapper: add thread-safe queue between udp receiver an… 

    …d decoder, decode in separate thread
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  13. feat(nebula_common): more instrumentation tools

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  14. fix: update link to transport_drivers fork

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  15. update GitHub PR view

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  16. refactor(mt_queue): make variables more readable

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  17. perf(hesai_ros_wrapper): update queue capacity to alleviate packet dr… 

    …ops on ECU
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  18. chore(hesai_ros_wrapper): remove unused pub/sub

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  19. refactor(hesai_ros_wrapper): clean up control flow, member variables

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  20. 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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  21. fix(hesai_hw_monitor_ros_wrapper): fixed wrong range given for S/N copy

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  22. fix(hesai): print uint8, uint16 as numbers

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  23. feat(hesai_ros_wrapper): publish/subscribe to legacy pandar_packets o… 

    …n demand
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  24. change launch file back to single-threaded container

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  25. attempt to make queue contention less bad

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  26. chore(hesai_ros_wrapper): reduce logging output

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  27. feat(hesai_ros_wrapper): print warning when connected to HW and recei… 

    …ving /pandar_packets
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  28. 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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  29. refactor(nebula_ros): split single wrapper file into 3 sub-wrappers

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  30. chore: update cspell ignore

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  31. chore(velodyne_calibration_decoder): fix spelling

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  32. chore(nebula_common): remove debug code

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  33. chore(velodyne_calibration_decoder): fix spelling

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  34. fix(hesai_decoder): initialize last_phase to prevent empty pointcloud… 

    … published on startup
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  35. fix(nebula_tests): make Hesai tests compile again

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  36. fix(nebula_examples): make Hesai examples compile again

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  37. chore(velodyne_calibration_decoder): fix spelling once and for all

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  38. fix(nebula_examples): fix test failure (remove ament_lint_common)

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  39. fix(hesai_hw_interface): add missing check for PTC error, make error … 

    …type more readable
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  40. refactor(hesai): re-introduce parameter update mechanism

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  41. feat(hesai_ros): add watchdog timer for pointcloud output

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  42. fix(hesai): change to possibly more accurate high_resolution_clock

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  43. fix(hesai): fix crash on QT128

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  44. refactor(hesai_hw_interface): refactor repeated error handling code

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  45. fix(hesai_launch_all_hw.xml): set valid RPM when AT128 is selected

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  46. refactor(hesai_decoder): remove redundant arguments for correction/ca… 

    …libration
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  47. refactor(nebula_ros): move mt_queue to common

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  48. chore(nebula_examples): change output rosbag format to NebulaPackets,… 

    … clean up code
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  49. chore(hesai/decoder_wrapper): clarify watchdog behavior in decoder

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  50. chore(hesai/hw_monitor_wrapper): fix typo in diagnostics name

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  51. chore(hesai_ros_decoder_test): fix unclear naming in console output

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  52. chore: run pre-commit and implement suggested fixes (not including co… 

    …pyright yet)
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  53. fix(expected.hpp): revert explicit constructors

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  54. chore: remove erroneously added node_modules folder

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  55. chore(gitconfig): exclude node_modules from git

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  56. fix(hesai/decoder_wrapper): store downloaded sensor calibration witho… 

    …ut colliding filenames
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  57. chore(nebula_examples,nebula_tests): remove more dangling comments an… 

    …d improve formatting
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