Fix pcl anomaly and timestamp (#27)

smartmicro · Dec 16, 2022 · 0d355f3 · 0d355f3
1 parent dc85dab
commit 0d355f3
Show file tree

Hide file tree

Showing 12 changed files with 597 additions and 802 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -26,4 +26,8 @@ This release includes the new smartmicro sensor DRVEGRD 152. The driver offers m
 
 ## v3.2.0 - 2022-11-11
 
-This minor release introduces signal-to-noise field in the pointclouds and also fixes the max number of sensors that could be connected at once.
+This minor release introduces signal-to-noise field in the pointclouds and also fixes the max number of sensors that could be connected at once.
+
+## v3.2.1 - 2022-12-16
+
+This release fixes the offset which causes anomaly in pointclouds from DRVEGRD 152 sensor. It also fixes the timestamp calculation bug which causes rviz to crash and updates the simulator source files.
diff --git a/Readme.md b/Readme.md
@@ -26,18 +26,18 @@ A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96, UMRR11, DRVE
 required to run this node. This code is bundled with a version of Smart Access API. Please make
 sure the version used to publish the data is compatible with this version:
 
-- Date of release: `November 11, 2022`
-- Smart Access Automotive version: `v2.1.0`
+- Date of release: `December 16, 2022`
+- Smart Access Automotive version: `v2.2.3`
 - User interface version: `UMRR96 Type 153 AUTOMOTIVE v1.2.1`
 - User interface version: `UMRR11 Type 132 AUTOMOTIVE v1.1.1`
 - User interface version: `UMRR9F Type 169 AUTOMOTIVE v1.1.1`
-- User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.0.1`
+- User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.0.2`
 
 ### Sensor Firmwares
 This ROS2 driver release is compatible with the following sensor firmwares:
 - UMRR11 Type 132: V5.1.4
 - UMRR96 Type 153: V5.2.4
-- UMRR9D Type 152: V1.0.0
+- UMRR9D Type 152: V2.1.0
 - UMRR9F Type 169: V1.3.0
 
 ### Point cloud message wrapper library

diff --git a/simulator/config_umrr9d/com_lib_config.json b/simulator/config_umrr9d/com_lib_config.json
@@ -8,7 +8,7 @@
     "user_interface_name": "umrr9d_t152_automotive",
     "user_interface_major_v": 1,
     "user_interface_minor_v": 0,
-    "user_interface_patch_v": 1,
+    "user_interface_patch_v": 2,
     "download_path": "",
     "instruction_serialization_type": "port_based",
     "data_serialization_type": "port_based",

diff --git a/simulator/simulation/CMakeLists.txt b/simulator/simulation/CMakeLists.txt
@@ -18,14 +18,16 @@ target_include_directories(simulator PUBLIC
                            ../../umrr_ros2_driver/smartmicro/include
                            umrr_ros2_driver/smartmicro/include/umrr11_t132_automotive_v1_1_1
                            umrr_ros2_driver/smartmicro/include/umrr96_t153_automotive_v1_2_1
-                           umrr_ros2_driver/smartmicro/include/umrr9f_t169_automotive_v1_1_1)
+                           umrr_ros2_driver/smartmicro/include/umrr9f_t169_automotive_v1_1_1
+                           umrr_ros2_driver/smartmicro/include/umrr9d_t152_automotive_v1_0_2)
 
 target_link_libraries(simulator
                       com_lib
                       osal
                       umrr11_t132_automotivev1.1.1_user_interface
                       umrr96_t153_automotivev1.2.1_user_interface
                       umrr9f_t169_automotivev1.1.1_user_interface
+                      umrr9d_t152_automotivev1.0.2_user_interface
                       dl)
 
 install(TARGETS simulator DESTINATION bin)
diff --git a/smart_extract.sh b/smart_extract.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-smart_pack=SmartAccessAutomotive_2_1_0.tar.gz
+smart_pack=SmartAccessAutomotive_2_2_3.tgz
 URL_smartbinaries=https://www.smartmicro.com/fileadmin/media/Downloads/Automotive_Radar/Software/${smart_pack}
 
 cat << EOF
@@ -42,7 +42,7 @@ echo
 function getSmartaccessBinaries {
     wget -c $URL_smartbinaries
     echo "extracting smart access"
-    tar xfz $smart_pack -C umrr_ros2_driver/smartmicro/
+    tar xfz $smart_pack --strip-components=1 -C umrr_ros2_driver/smartmicro/
 }
 
 function cleanup {

diff --git a/umrr_ros2_driver/CMakeLists.txt b/umrr_ros2_driver/CMakeLists.txt
@@ -56,7 +56,7 @@ install(FILES
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr11_t132_automotivev1.1.1_user_interface.so"
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr96_t153_automotivev1.2.1_user_interface.so"
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9f_t169_automotivev1.1.1_user_interface.so"
-    "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9d_t152_automotivev1.0.1_user_interface.so"
+    "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9d_t152_automotivev1.0.2_user_interface.so"
 DESTINATION lib)
 
 set(LIB_PATH "${CMAKE_INSTALL_PREFIX}/lib")
@@ -81,7 +81,7 @@ smartmicro/include/
 smartmicro/include/umrr11_t132_automotive_v1_1_1
 smartmicro/include/umrr96_t153_automotive_v1_2_1
 smartmicro/include/umrr9f_t169_automotive_v1_1_1
-smartmicro/include/umrr9d_t152_automotive_v1_0_1)
+smartmicro/include/umrr9d_t152_automotive_v1_0_2)
 
 # link smart_access_lib-linux-x86_64-gcc_9 to the node
 target_link_libraries(smartmicro_radar_node
@@ -92,7 +92,7 @@ target_link_libraries(smartmicro_radar_node
     umrr11_t132_automotivev1.1.1_user_interface
     umrr96_t153_automotivev1.2.1_user_interface
     umrr9f_t169_automotivev1.1.1_user_interface
-    umrr9d_t152_automotivev1.0.1_user_interface)
+    umrr9d_t152_automotivev1.0.2_user_interface)
 
 rclcpp_components_register_node(smartmicro_radar_node
     PLUGIN "smartmicro::drivers::radar::SmartmicroRadarNode"

diff --git a/umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp b/umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp
@@ -28,7 +28,7 @@
 #include <umrr11_t132_automotive_v1_1_1/DataStreamServiceIface.h>
 #include <umrr96_t153_automotive_v1_2_1/DataStreamServiceIface.h>
 #include <umrr9f_t169_automotive_v1_1_1/DataStreamServiceIface.h>
-#include <umrr9d_t152_automotive_v1_0_1/DataStreamServiceIface.h>
+#include <umrr9d_t152_automotive_v1_0_2/DataStreamServiceIface.h>
 
 #include <array>
 #include <memory>
@@ -136,7 +136,7 @@ class UMRR_ROS2_DRIVER_PUBLIC SmartmicroRadarNode : public ::rclcpp::Node
   void targetlist_callback_umrr9d(
     const std::uint32_t sensor_idx,
     const std::shared_ptr<
-      com::master::umrr9d_t152_automotive_v1_0_1::comtargetlistport::ComTargetListPort> &
+      com::master::umrr9d_t152_automotive_v1_0_2::comtargetlistport::ComTargetListPort> &
       targetlist_port_umrr9d,
     const com::types::ClientId client_id);
 
@@ -198,7 +198,7 @@ std::shared_ptr<com::master::CommunicationServicesIface> m_services{};
 std::shared_ptr<com::master::umrr11_t132_automotive_v1_1_1::DataStreamServiceIface> data_umrr11{};
 std::shared_ptr<com::master::umrr96_t153_automotive_v1_2_1::DataStreamServiceIface> data_umrr96{};
 std::shared_ptr<com::master::umrr9f_t169_automotive_v1_1_1::DataStreamServiceIface> data_umrr9f{};
-std::shared_ptr<com::master::umrr9d_t152_automotive_v1_0_1::DataStreamServiceIface> data_umrr9d{};
+std::shared_ptr<com::master::umrr9d_t152_automotive_v1_0_2::DataStreamServiceIface> data_umrr9d{};
 
 }  // namespace radar
 }  // namespace drivers

diff --git a/umrr_ros2_driver/package.xml b/umrr_ros2_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>umrr_ros2_driver</name>
-  <version>3.2.0</version>
+  <version>3.2.1</version>
   <description>A node to publish data from a smartmicro radar.</description>
   <maintainer email="[email protected]">s.m.s, smart microwave sensors GmbH.</maintainer>
   <license>Apache 2.0 License</license>

diff --git a/umrr_ros2_driver/smartmicro/include/DataServicesIface.h b/umrr_ros2_driver/smartmicro/include/DataServicesIface.h
@@ -99,9 +99,23 @@ class EXPORT_COM_LIB DataServicesIface : public com::VersionedIface {
      * Return: ErrorCode
      * Description: Streams a data port to input client id
      */
-    virtual  ErrorCode StreamDataPort(IN ClientId clientId, 
+    virtual ErrorCode StreamDataPort(IN ClientId clientId, 
                                       IN PortId   portId,
                                       IN BufferDescriptor& buffer) = 0;
+
+    /*  
+     * Function: StreamInternalDataPort
+     * Arguments: ClientId clientId - destination client id.
+     *            PortId   portId - id of the streamed port.
+     *            BufferDescriptor& buffer - data buffer
+     * Return: ErrorCode
+     * Description: Streams a internal data port to input client id.
+     *              This will return with an error code if the port is
+     *              content of client user interface
+     */
+    virtual ErrorCode StreamInternalDataPort(
+       ClientId clientId, PortId portId, BufferDescriptor& buffer) = 0;
+
     /*  
      * Function: Init
      * Arguments: none