Merge remote-tracking branch 'upstream/main' into at128_top_of_second…

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tier4 · Nov 16, 2023 · 8b49cff · 8b49cff
2 parents 5381b86 + 3e6d655
commit 8b49cff
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diff --git a/...oders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/...oders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -22,8 +22,8 @@
 #include "nebula_common/velodyne/velodyne_calibration_decoder.hpp"
 #include "nebula_common/velodyne/velodyne_common.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <tuple>
 

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
@@ -2,8 +2,8 @@
 
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <array>
 

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
@@ -8,8 +8,8 @@
 #include "nebula_decoders/nebula_decoders_common/nebula_driver_base.hpp"
 #include "nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp"
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <pcl_conversions/pcl_conversions.h>
 

diff --git a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
@@ -35,8 +35,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <regex>
 

diff --git a/...aces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp b/...aces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <boost/property_tree/json_parser.hpp>
 #include <boost/property_tree/ptree.hpp>

diff --git a/nebula_messages/velodyne_msgs/CMakeLists.txt b/nebula_messages/velodyne_msgs/CMakeLists.txt
diff --git a/nebula_messages/velodyne_msgs/msg/VelodynePacket.msg b/nebula_messages/velodyne_msgs/msg/VelodynePacket.msg
diff --git a/nebula_messages/velodyne_msgs/msg/VelodyneScan.msg b/nebula_messages/velodyne_msgs/msg/VelodyneScan.msg
diff --git a/nebula_messages/velodyne_msgs/package.xml b/nebula_messages/velodyne_msgs/package.xml
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
@@ -12,8 +12,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 namespace nebula
 {

diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
@@ -10,8 +10,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <curl/curl.h>
 

diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
@@ -22,6 +22,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>yaml-cpp</depend>
+  <depend>velodyne_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.hpp b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
@@ -35,11 +35,11 @@ struct HesaiRosDecoderTestParams
 {
   std::string sensor_model;
   std::string return_mode;
-  std::string frame_id = "hesai";
-  double scan_phase = 0.;
   std::string calibration_file = "";
-  std::string correction_file = "";
   std::string bag_path;
+  std::string correction_file = "";
+  std::string frame_id = "hesai";
+  double scan_phase = 0.;
   std::string storage_id = "sqlite3";
   std::string format = "cdr";
   std::string target_topic = "/pandar_packets";

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -19,41 +19,42 @@ namespace test
 {
 
 const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
-  {.sensor_model = "Pandar40P",
-   .return_mode = "Dual",
-   .calibration_file = "Pandar40P.csv",
-   .bag_path = "40p/1673400149412331409"},
   {
-    .sensor_model = "Pandar64",
-    .return_mode = "Dual",
-    .calibration_file = "Pandar64.csv",
-    .bag_path = "64/1673403880599376836",
+    "Pandar40P",
+    "Dual",
+    "Pandar40P.csv",
+    "40p/1673400149412331409",
   },
   {
-    .sensor_model = "PandarAT128",
-    .return_mode = "Dual",
-    .scan_phase = 152,
-    .calibration_file = "PandarAT128.csv",
-    .correction_file = "PandarAT128.dat",
-    .bag_path = "at128/1679653308406038376",
+    "Pandar64",
+    "Dual",
+    "Pandar64.csv",
+    "64/1673403880599376836",
   },
   {
-    .sensor_model = "PandarQT64",
-    .return_mode = "Dual",
-    .calibration_file = "PandarQT64.csv",
-    .bag_path = "qt64/1673401195788312575",
+    "PandarAT128",
+    "LastStrongest",
+    "PandarAT128.csv",
+    "at128/1679653308406038376",
+    "PandarAT128.dat",
   },
   {
-    .sensor_model = "PandarXT32",
-    .return_mode = "Dual",
-    .calibration_file = "PandarXT32.csv",
-    .bag_path = "xt32/1673400677802009732",
+    "PandarQT64",
+    "Dual",
+    "PandarQT64.csv",
+    "qt64/1673401195788312575",
   },
   {
-    .sensor_model = "PandarXT32M",
-    .return_mode = "LastStrongest",
-    .calibration_file = "PandarXT32M.csv",
-    .bag_path = "xt32m/1660893203042895158",
+    "PandarXT32",
+    "Dual",
+    "PandarXT32.csv",
+    "xt32/1673400677802009732",
+  },
+  {
+    "PandarXT32M",
+    "LastStrongest",
+    "PandarXT32M.csv",
+    "xt32m/1660893203042895158",
   }};
 
 // Compares geometrical output of decoder against pre-recorded reference pointcloud.
@@ -67,7 +68,7 @@ TEST_P(DecoderTest, TestPcd)
   int check_cnt = 0;
 
   auto scan_callback = [&](
-                         uint64_t msg_timestamp, uint64_t scan_timestamp,
+                         uint64_t msg_timestamp, uint64_t /*scan_timestamp*/,
                          nebula::drivers::NebulaPointCloudPtr pointcloud) {
     if (!pointcloud) return;
 
@@ -98,7 +99,7 @@ TEST_P(DecoderTest, TestTimezone)
   std::vector<uint64_t> decoded_timestamps;
 
   auto scan_callback = [&](
-                         uint64_t msg_timestamp, uint64_t scan_timestamp,
+                         uint64_t /*msg_timestamp*/, uint64_t scan_timestamp,
                          nebula::drivers::NebulaPointCloudPtr pointcloud) {
     if (!pointcloud) return;
     decoded_timestamps.push_back(scan_timestamp);
@@ -134,7 +135,7 @@ TEST_P(DecoderTest, TestTimezone)
   // then compare e.g. the last timestamp to verify that it is not affected
   // by timezone settings
   ASSERT_EQ(decoded_timestamps.size(), decoded_timestamps_cmp.size());
-  ASSERT_GT(decoded_timestamps.size(), 0);
+  ASSERT_GT(decoded_timestamps.size(), 0U);
   EXPECT_EQ(decoded_timestamps.back(), decoded_timestamps_cmp.back());
 }
 

diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
@@ -11,8 +11,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <gtest/gtest.h>
 

diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
@@ -11,8 +11,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "velodyne_msgs/msg/velodyne_packet.hpp"
-#include "velodyne_msgs/msg/velodyne_scan.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <gtest/gtest.h>