Merge branch 'main' into docs/contribution-guidelines

.gitignore

@@ -5,18 +5,23 @@
 # Visual Studio Code
 .vscode/
 *.code-workspace
+*.env
 
 # colcon
 build/
 install/
 log/
 
+# Clangd
+.cache/
+
 # profiling
 profiling_output/
 
 # Python
 srv/_*.py
 *.pyc
+__pycache__
 
 # Ignore generated docs
 *.dox

.pre-commit-config.yaml

@@ -87,7 +87,9 @@ repos:
     rev: 1.6.1
     hooks:
       - id: cpplint
-        args: [--quiet]
+        # runtime/arrays uses the name of the variable to determine const-ness.
+        # This does not play well with our naming conventions
+        args: [--quiet, --filter=-runtime/arrays]
         exclude: .cu
 
 exclude: .svg

README.md

@@ -15,7 +15,7 @@ Nebula works with ROS 2 and is the recommended sensor driver for the [Autoware](
 We recommend you get started with the [Nebula Documention](https://tier4.github.io/nebula/).
 Here you will find information about the background of the project, how to install and use with ROS 2, and also how to add new sensors to the Nebula driver.
 
-- [About Nebula](https://tier4.github.io/nebula/about)
+- [About Nebula](https://tier4.github.io/nebula)
 - [Design](https://tier4.github.io/nebula/design)
 - [Supported Sensors](https://tier4.github.io/nebula/supported_sensors)
 - [Installation](https://tier4.github.io/nebula/installation)
@@ -32,24 +32,18 @@ Nebula builds with ROS 2 Galactic and Humble.
 > **Note**
 >
 > Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.
->
-> **Note**
->
-> A [TCP enabled version of ROS' Transport Driver](https://github.com/mojomex/transport_drivers/tree/mutable-buffer-in-udp-callback) is required to use Nebula.
-> It is installed automatically into your workspace using the below commands. However, if you already have ROS transport driver binaries installed, you will have to uninstall them to avoid conflicts (replace `humble` with your ROS distribution):
-> `sudo apt remove ros-humble-udp-driver ros-humble-io-context`
 
 To build Nebula run the following commands in your workspace:
 
 ```bash
 # In workspace
-mkdir src
-git clone https://github.com/tier4/nebula.git src
+git clone https://github.com/tier4/nebula.git
+cd nebula
 # Import dependencies
-vcs import src < src/build_depends.repos
-rosdep install --from-paths src --ignore-src -y -r
+vcs import < build_depends.repos
+rosdep install --from-paths . --ignore-src -y -r
 # Build Nebula
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1
 ```
 
 To launch Nebula as a ROS 2 node with default parameters for your sensor model:

docs/installation.md

@@ -10,24 +10,18 @@ Please see the [ROS 2 documentation](https://docs.ros.org/en/humble/index.html)
 > **Note**
 >
 > Boost version 1.74.0 or later is required. A manual install may be required in Ubuntu versions earlier than 22.04.
->
-> **Note**
->
-> A [TCP enabled version of ROS' Transport Driver](https://github.com/mojomex/transport_drivers/tree/mutable-buffer-in-udp-callback) is required to use Nebula.
-> It is installed automatically into your workspace using the below commands. However, if you already have ROS transport driver binaries installed, you will have to uninstall them to avoid conflicts (replace `humble` with your ROS distribution):
-> `sudo apt remove ros-humble-udp-driver ros-humble-io-context`
 
 To build Nebula run the following commands in your workspace:
 
 ```bash
 # In workspace
-mkdir src
-git clone https://github.com/tier4/nebula.git src
+git clone https://github.com/tier4/nebula.git
+cd nebula
 # Import dependencies
-vcs import src < src/build_depends.repos
-rosdep install --from-paths src --ignore-src -y -r
+vcs import < build_depends.repos
+rosdep install --from-paths . --ignore-src -y -r
 # Build Nebula
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1
 ```
 
 ## Testing your build

nebula_common/include/nebula_common/continental/continental_ars548.hpp

@@ -216,64 +216,64 @@ using boost::endian::big_uint16_buf_t;
 using boost::endian::big_uint32_buf_t;
 using boost::endian::big_uint64_buf_t;
 
-constexpr int CONFIGURATION_SERVICE_ID = 0;
-constexpr int CONFIGURATION_METHOD_ID = 390;
-constexpr int CONFIGURATION_PAYLOAD_LENGTH = 56;
-constexpr int CONFIGURATION_UDP_LENGTH = 64;
+constexpr int configuration_service_id = 0;
+constexpr int configuration_method_id = 390;
+constexpr int configuration_payload_length = 56;
+constexpr int configuration_udp_length = 64;
 
-constexpr int DETECTION_LIST_METHOD_ID = 336;
-constexpr int OBJECT_LIST_METHOD_ID = 329;
-constexpr int SENSOR_STATUS_METHOD_ID = 380;
-constexpr int FILTER_STATUS_METHOD_ID = 396;
+constexpr int detection_list_method_id = 336;
+constexpr int object_list_method_id = 329;
+constexpr int sensor_status_method_id = 380;
+constexpr int filter_status_method_id = 396;
 
-constexpr int DETECTION_LIST_UDP_PAYLOAD = 35336;
-constexpr int OBJECT_LIST_UDP_PAYLOAD = 9401;
-constexpr int SENSOR_STATUS_UDP_PAYLOAD = 84;
-constexpr int FILTER_STATUS_UDP_PAYLOAD = 330;
+constexpr int detection_list_udp_payload = 35336;
+constexpr int object_list_udp_payload = 9401;
+constexpr int sensor_status_udp_payload = 84;
+constexpr int filter_status_udp_payload = 330;
 
-constexpr int DETECTION_LIST_PDU_LENGTH = 35328;
-constexpr int OBJECT_LIST_PDU_LENGTH = 9393;
-constexpr int SENSOR_STATUS_PDU_LENGTH = 76;
-constexpr int FILTER_STATUS_PDU_LENGTH = 322;
+constexpr int detection_list_pdu_length = 35328;
+constexpr int object_list_pdu_length = 9393;
+constexpr int sensor_status_pdu_length = 76;
+constexpr int filter_status_pdu_length = 322;
 
-constexpr int DETECTION_FILTER_PROPERTIES_NUM = 7;
-constexpr int OBJECT_FILTER_PROPERTIES_NUM = 24;
-constexpr int MAX_DETECTIONS = 800;
-constexpr int MAX_OBJECTS = 50;
+constexpr int detection_filter_properties_num = 7;
+constexpr int object_filter_properties_num = 24;
+constexpr int max_detections = 800;
+constexpr int max_objects = 50;
 
-constexpr int SYNC_OK = 1;
-constexpr int NEVER_SYNC = 2;
-constexpr int SYNC_LOST = 3;
+constexpr int sync_ok = 1;
+constexpr int never_sync = 2;
+constexpr int sync_lost = 3;
 
-constexpr int PLUG_RIGHT = 0;
-constexpr int PLUG_LEFT = 1;
+constexpr int plug_right = 0;
+constexpr int plug_left = 1;
 
-constexpr int FREQUENCY_SLOT_LOW = 0;
-constexpr int FREQUENCY_SLOT_MID = 1;
-constexpr int FREQUENCY_SLOT_HIGH = 2;
+constexpr int frequency_slot_low = 0;
+constexpr int frequency_slot_mid = 1;
+constexpr int frequency_slot_high = 2;
 
-constexpr int HCC_WORLDWIDE = 1;
-constexpr int HCC_JAPAN = 2;
+constexpr int hcc_worldwide = 1;
+constexpr int hcc_japan = 2;
 
-constexpr int POWERSAVE_STANDSTILL_OFF = 0;
-constexpr int POWERSAVE_STANDSTILL_ON = 1;
+constexpr int powersave_standstill_off = 0;
+constexpr int powersave_standstill_on = 1;
 
-constexpr int VDY_OK = 0;
-constexpr int VDY_NOTOK = 1;
+constexpr int vdy_ok = 0;
+constexpr int vdy_notok = 1;
 
-constexpr int STATE_INIT = 0;
-constexpr int STATE_OK = 1;
-constexpr int STATE_INVALID = 2;
+constexpr int state_init = 0;
+constexpr int state_ok = 1;
+constexpr int state_invalid = 2;
 
-constexpr int BLOCKAGE_STATUS_BLIND = 0;
-constexpr int BLOCKAGE_STATUS_HIGH = 1;
-constexpr int BLOCKAGE_STATUS_MID = 2;
-constexpr int BLOCKAGE_STATUS_LOW = 3;
-constexpr int BLOCKAGE_STATUS_NONE = 4;
+constexpr int blockage_status_blind = 0;
+constexpr int blockage_status_high = 1;
+constexpr int blockage_status_mid = 2;
+constexpr int blockage_status_low = 3;
+constexpr int blockage_status_none = 4;
 
-constexpr int BLOCKAGE_TEST_FAILED = 0;
-constexpr int BLOCKAGE_TEST_PASSED = 1;
-constexpr int BLOCKAGE_TEST_ONGOING = 2;
+constexpr int blockage_test_failed = 0;
+constexpr int blockage_test_passed = 1;
+constexpr int blockage_test_ongoing = 2;
 
 #pragma pack(push, 1)
 
@@ -352,7 +352,7 @@ struct DetectionListPacket
   big_float32_buf_t origin_yaw{};
   big_float32_buf_t origin_yaw_std{};
   uint8_t list_invalid_flags{};
-  DetectionPacket detections[MAX_DETECTIONS];
+  DetectionPacket detections[max_detections];
   big_float32_buf_t list_rad_vel_domain_min{};
   big_float32_buf_t list_rad_vel_domain_max{};
   big_uint32_buf_t number_of_detections{};
@@ -439,7 +439,7 @@ struct ObjectListPacket
   big_uint32_buf_t event_data_qualifier{};
   uint8_t extended_qualifier{};
   uint8_t number_of_objects{};
-  ObjectPacket objects[MAX_OBJECTS];
+  ObjectPacket objects[max_objects];
 };
 
 struct StatusConfigurationPacket
@@ -573,8 +573,8 @@ struct FilterStatusPacket
   uint8_t filter_configuration_counter{};
   uint8_t detection_sort_index{};
   uint8_t object_sort_index{};
-  FilterStatusEntryPacket detection_filters[DETECTION_FILTER_PROPERTIES_NUM];
-  FilterStatusEntryPacket object_filters[OBJECT_FILTER_PROPERTIES_NUM];
+  FilterStatusEntryPacket detection_filters[detection_filter_properties_num];
+  FilterStatusEntryPacket object_filters[object_filter_properties_num];
 };
 
 #pragma pack(pop)

nebula_common/include/nebula_common/continental/continental_srr520.hpp

@@ -64,49 +64,49 @@ using boost::endian::big_uint32_buf_t;
 using boost::endian::big_uint64_buf_t;
 
 // CAN MSG IDS
-constexpr int RDI_NEAR_HEADER_CAN_MESSAGE_ID = 900;
-constexpr int RDI_NEAR_ELEMENT_CAN_MESSAGE_ID = 901;
-constexpr int RDI_HRR_HEADER_CAN_MESSAGE_ID = 1100;
-constexpr int RDI_HRR_ELEMENT_CAN_MESSAGE_ID = 1101;
-constexpr int OBJECT_HEADER_CAN_MESSAGE_ID = 1200;
-constexpr int OBJECT_CAN_MESSAGE_ID = 1201;
-constexpr int CRC_LIST_CAN_MESSAGE_ID = 800;
-constexpr int STATUS_CAN_MESSAGE_ID = 700;
-constexpr int SYNC_FOLLOW_UP_CAN_MESSAGE_ID = 53;
-constexpr int VEH_DYN_CAN_MESSAGE_ID = 600;
-constexpr int SENSOR_CONFIG_CAN_MESSAGE_ID = 601;
+constexpr int rdi_near_header_can_message_id = 900;
+constexpr int rdi_near_element_can_message_id = 901;
+constexpr int rdi_hrr_header_can_message_id = 1100;
+constexpr int rdi_hrr_element_can_message_id = 1101;
+constexpr int object_header_can_message_id = 1200;
+constexpr int object_can_message_id = 1201;
+constexpr int crc_list_can_message_id = 800;
+constexpr int status_can_message_id = 700;
+constexpr int sync_follow_up_can_message_id = 53;
+constexpr int veh_dyn_can_message_id = 600;
+constexpr int sensor_config_can_message_id = 601;
 
 // CRC IDS
-constexpr int NEAR_CRC_ID = 0;
-constexpr int HRR_CRC_ID = 1;
-constexpr int OBJECT_CRC_ID = 2;
-constexpr int TIME_DOMAIN_ID =
+constexpr int near_crc_id = 0;
+constexpr int hrr_crc_id = 1;
+constexpr int object_crc_id = 2;
+constexpr int time_domain_id =
   0;  // For details, please refer to AUTOSAR's "Time Synchronization over CAN" document
 
-constexpr int RDI_NEAR_HEADER_PACKET_SIZE = 32;
-constexpr int RDI_NEAR_ELEMENT_PACKET_SIZE = 64;
-constexpr int RDI_HRR_HEADER_PACKET_SIZE = 32;
-constexpr int RDI_HRR_ELEMENT_PACKET_SIZE = 64;
-constexpr int OBJECT_HEADER_PACKET_SIZE = 32;
-constexpr int OBJECT_PACKET_SIZE = 64;
-constexpr int CRC_LIST_PACKET_SIZE = 4;
-constexpr int STATUS_PACKET_SIZE = 64;
-constexpr int SYNC_FOLLOW_UP_CAN_PACKET_SIZE = 8;
-constexpr int VEH_DYN_CAN_PACKET_SIZE = 8;
-constexpr int CONFIGURATION_PACKET_SIZE = 16;
-
-constexpr int RDI_NEAR_PACKET_NUM = 50;
-constexpr int RDI_HRR_PACKET_NUM = 20;
-constexpr int OBJECT_PACKET_NUM = 20;
-
-constexpr int FRAGMENTS_PER_DETECTION_PACKET = 10;
-constexpr int FRAGMENTS_PER_OBJECT_PACKET = 2;
-constexpr int DETECTION_FRAGMENT_SIZE = 6;
-constexpr int OBJECT_FRAGMENT_SIZE = 31;
-
-constexpr int MAX_RDI_NEAR_DETECTIONS = RDI_NEAR_PACKET_NUM * FRAGMENTS_PER_DETECTION_PACKET;
-constexpr int MAX_RDI_HRR_DETECTIONS = RDI_HRR_PACKET_NUM * FRAGMENTS_PER_DETECTION_PACKET;
-constexpr int MAX_OBJECTS = OBJECT_PACKET_NUM * FRAGMENTS_PER_OBJECT_PACKET;
+constexpr int rdi_near_header_packet_size = 32;
+constexpr int rdi_near_element_packet_size = 64;
+constexpr int rdi_hrr_header_packet_size = 32;
+constexpr int rdi_hrr_element_packet_size = 64;
+constexpr int object_header_packet_size = 32;
+constexpr int object_packet_size = 64;
+constexpr int crc_list_packet_size = 4;
+constexpr int status_packet_size = 64;
+constexpr int sync_follow_up_can_packet_size = 8;
+constexpr int veh_dyn_can_packet_size = 8;
+constexpr int configuration_packet_size = 16;
+
+constexpr int rdi_near_packet_num = 50;
+constexpr int rdi_hrr_packet_num = 20;
+constexpr int object_packet_num = 20;
+
+constexpr int fragments_per_detection_packet = 10;
+constexpr int fragments_per_object_packet = 2;
+constexpr int detection_fragment_size = 6;
+constexpr int object_fragment_size = 31;
+
+constexpr int max_rdi_near_detections = rdi_near_packet_num * fragments_per_detection_packet;
+constexpr int max_rdi_hrr_detections = rdi_hrr_packet_num * fragments_per_detection_packet;
+constexpr int max_objects = object_packet_num * fragments_per_object_packet;
 
 #pragma pack(push, 1)
 
@@ -162,12 +162,12 @@ struct ScanHeaderPacket
 
 struct DetectionFragmentPacket
 {
-  uint8_t data[DETECTION_FRAGMENT_SIZE];
+  uint8_t data[detection_fragment_size];
 };
 
 struct DetectionPacket
 {
-  DetectionFragmentPacket fragments[FRAGMENTS_PER_DETECTION_PACKET];  // 0 - 59
+  DetectionFragmentPacket fragments[fragments_per_detection_packet];  // 0 - 59
   uint8_t reserved0;                                                  // 60
   uint8_t reserved1;                                                  // 61
   uint8_t u_message_counter;                                          // 62
@@ -192,12 +192,12 @@ struct ObjectHeaderPacket
 
 struct ObjectFragmentPacket
 {
-  uint8_t data[OBJECT_FRAGMENT_SIZE];
+  uint8_t data[object_fragment_size];
 };
 
 struct ObjectPacket
 {
-  ObjectFragmentPacket fragments[FRAGMENTS_PER_OBJECT_PACKET];  // 0 - 61
+  ObjectFragmentPacket fragments[fragments_per_object_packet];  // 0 - 61
   uint8_t u_message_counter;                                    // 62
   uint8_t u_sequence_counter;                                   // 63
 };