Merge branch 'main' into hesai-at128-performance-tuning

tier4 · Aug 8, 2023 · e591f46 · e591f46
2 parents d7a78b7 + cb25896
commit e591f46
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Showing 10 changed files with 21 additions and 23 deletions.
diff --git a/build_depends.repos b/build_depends.repos
@@ -3,4 +3,4 @@ repositories:
   transport_drivers:
     type: git
     url: https://github.com/MapIV/transport_drivers
-    version: tcp
+    version: boost
diff --git a/nebula_common/src/nebula_common.cpp b/nebula_common/src/nebula_common.cpp
@@ -58,9 +58,9 @@ pcl::PointCloud<PointXYZIRADT>::Ptr convertPointXYZIRCAEDTToPointXYZIRADT(
     point.z = p.z;
     point.intensity = p.intensity;
     point.ring = p.channel;
-    point.azimuth = rad2deg(p.azimuth);
+    point.azimuth = rad2deg(p.azimuth) * 100.0;
     point.distance = p.distance;
-    point.time_stamp = static_cast<double>(stamp) + p.time_stamp*10e-9;
+    point.time_stamp = stamp + static_cast<double>(p.time_stamp)*1e-9;
     output_pointcloud->points.emplace_back(point);
   }
 

diff --git a/...ces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp b/...ces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp
@@ -3,7 +3,7 @@
 
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
-#include "udp_driver/udp_driver.hpp"
+#include "boost_udp_driver/udp_driver.hpp"
 
 #include <stdexcept>
 #include <string>
@@ -20,7 +20,7 @@ class NebulaHwInterfaceBase
   /**
    * Callback function to receive the Cloud Packet data from the UDP Driver
    * @param buffer Buffer containing the data received from the UDP socket
-   * @return Status::OK if no error occured.
+   * @return Status::OK if no error occurred.
    */
   virtual void ReceiveCloudPacketCallback(const std::vector<uint8_t> & buffer) = 0;
   //  virtual Status RegisterScanCallback(

diff --git a/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -14,9 +14,9 @@
 #include "nebula_common/hesai/hesai_status.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp"
-#include "tcp_driver/http_client_driver.hpp"
-#include "tcp_driver/tcp_driver.hpp"
-#include "udp_driver/udp_driver.hpp"
+#include "boost_tcp_driver/http_client_driver.hpp"
+#include "boost_tcp_driver/tcp_driver.hpp"
+#include "boost_udp_driver/udp_driver.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

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
@@ -14,8 +14,8 @@
 #include "nebula_common/velodyne/velodyne_common.hpp"
 #include "nebula_common/velodyne/velodyne_status.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp"
-#include "tcp_driver/http_client_driver.hpp"
-#include "udp_driver/udp_driver.hpp"
+#include "boost_tcp_driver/http_client_driver.hpp"
+#include "boost_udp_driver/udp_driver.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/nebula_hw_interfaces/package.xml b/nebula_hw_interfaces/package.xml
@@ -16,8 +16,8 @@
   <depend>pandar_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>tcp_driver</depend>
-  <depend>udp_driver</depend>
+  <depend>boost_tcp_driver</depend>
+  <depend>boost_udp_driver</depend>
   <depend>velodyne_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
@@ -5,7 +5,7 @@
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-#include "tcp_driver/tcp_driver.hpp"
+#include "boost_tcp_driver/tcp_driver.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
@@ -5,7 +5,7 @@
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
-#include "tcp_driver/tcp_driver.hpp"
+#include "boost_tcp_driver/tcp_driver.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -15,6 +15,11 @@
 #include <boost/asio.hpp>
 
 #include <mutex>
+#include <boost/algorithm/string/join.hpp>
+#include <boost/asio.hpp>
+#include <boost/lexical_cast.hpp>
+
+#include <thread>
 
 namespace nebula
 {

diff --git a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
@@ -1,13 +1,5 @@
 #include "nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp"
 
-#include "tcp_driver/tcp_driver.hpp"
-
-#include <boost/algorithm/string/join.hpp>
-#include <boost/asio.hpp>
-#include <boost/lexical_cast.hpp>
-
-#include <thread>
-
 namespace nebula
 {
 namespace ros

diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -49,6 +49,7 @@ void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ConvertScanToPointcloud(scan_msg);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+  double cloud_stamp = std::get<1>(pointcloud_ts);
   if (pointcloud == nullptr) {
     RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
     return;
@@ -77,7 +78,7 @@ void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
     const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, 0.0);//velodyne drivers originally doesn't use absolute time
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, cloud_stamp);
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =