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fix(velodyne_hw_monitor): allow max cloud angle of 360 degrees #50

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Aug 10, 2023
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fix(velodyne_hw_monitor): allow max cloud angle of 360 degrees #50

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25 changes: 5 additions & 20 deletions nebula_ros/config/velodyne/VLP32.yaml
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Original file line number Diff line number Diff line change
@@ -1,25 +1,10 @@
#nebula_velodyne_hw_interface:
#nebula_velodyne_hw_monitor:
/**:
ros__parameters:
sensor_model: "VLP32" # See readme for supported models
sensor_ip: "192.168.1.201" # Lidar Sensor IP
host_ip: "255.255.255.255" # Broadcast IP from Sensor
sensor_model: "VLP32"
sensor_ip: "192.168.1.201"
host_ip: "255.255.255.255"
frame_id: "velodyne"
data_port: 2368 # LiDAR Data Port
gnss_port: 2369 # LiDAR GNSS Port
return_mode: "Dual" # See readme for supported return modes
scan_phase: 0.0 # Angle where scans begin (degrees, [0.,360.]
packet_mtu_size: 1500 # Packet MTU size
rotation_speed: 600 # Motor RPM, the sensor's internal spin rate.
cloud_min_angle: 0 # Field of View, start degrees.
cloud_max_angle: 359 # Field of View, end degrees.
diag_span: 1000 # milliseconds
advanced_diagnostics: False # original diag
min_range: 0.3
max_range: 300.0
view_width: 360.0
calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/velodyne/VLP32.yaml"
data_port: 2368
gnss_port: 2369
setup_sensor: True

online: True
6 changes: 3 additions & 3 deletions nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(359).set__step(1);
range.set__from_value(0).set__to_value(360).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 @@ -278,9 +278,9 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
rcl_interfaces::msg::IntegerRange range;
range.set__from_value(0).set__to_value(359).set__step(1);
range.set__from_value(0).set__to_value(360).set__step(1);
descriptor.integer_range = {range};
this->declare_parameter<uint16_t>("cloud_max_angle", 359, descriptor);
this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
}

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