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fix(nebula_ros): limit cloud_max_angle param to 359 #44 #45

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fix(nebula_ros): limit cloud_max_angle param to 359 #44 #45

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c1ae246
fix(nebula_ros): Limit cloud_max_angle param to 359
mebasoglu Aug 4, 2023
5cc5164
Merge branch 'main' into 44-fix-cloud-max-angle
amc-nu Aug 8, 2023
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8 changes: 4 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -200,8 +200,8 @@ Parameters shared by all supported models:
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| cloud_min_angle | uint16 | 0 | degrees [0, 360) | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360) | FoV end angle |

#### Driver parameters

Expand All @@ -211,8 +211,8 @@ Parameters shared by all supported models:
| calibration_file | string | | | LiDAR calibration file |
| min_range | double | 0.3 | meters, >= 0.3 | Minimum point range published |
| max_range | double | 300.0 | meters, <= 300.0 | Maximum point range published |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| cloud_min_angle | uint16 | 0 | degrees [0, 360) | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360) | FoV end angle |

## Software design overview

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2 changes: 1 addition & 1 deletion nebula_ros/launch/velodyne_launch_all_hw.xml
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Expand Up @@ -14,7 +14,7 @@
<arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
<arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
<arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
<arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
<arg name="cloud_max_angle" default="359" description="Field of View, end degrees."/>
<arg name="diag_span" default="1000" description="milliseconds"/>

<arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
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6 changes: 3 additions & 3 deletions nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
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Expand Up @@ -215,7 +215,7 @@ Status VelodyneDriverRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(360).set__step(1);
range.set__from_value(0).set__to_value(359).set__step(1);
descriptor.integer_range = {range};
this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
Expand All @@ -227,9 +227,9 @@ Status VelodyneDriverRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(360).set__step(1);
range.set__from_value(0).set__to_value(359).set__step(1);
descriptor.integer_range = {range};
this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
this->declare_parameter<uint16_t>("cloud_max_angle", 359, descriptor);
sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
}
} else {
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6 changes: 3 additions & 3 deletions nebula_ros/src/velodyne/velodyne_hw_interface_ros_wrapper.cpp
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Expand Up @@ -180,7 +180,7 @@ Status VelodyneHwInterfaceRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(360).set__step(1);
range.set__from_value(0).set__to_value(359).set__step(1);
descriptor.integer_range = {range};
this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
Expand All @@ -192,9 +192,9 @@ Status VelodyneHwInterfaceRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(360).set__step(1);
range.set__from_value(0).set__to_value(359).set__step(1);
descriptor.integer_range = {range};
this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
this->declare_parameter<uint16_t>("cloud_max_angle", 359, descriptor);
sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
}

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