fix(autoware_radar_scan_to_pointcloud2): use sensor data qos

[mebasoglu]

Description

Use SensorDataQoS for subscriber and publisher.

Related links

Parent Issue:

• Some radar nodes cannot subscribe to sensor topics #10155

How was this PR tested?

Tested with a bag file which includes ARS 548 RadarScan data via the following launch:

<?xml version="1.0" encoding="UTF-8"?>
<launch>

  <push-ros-namespace namespace="radar_cloud"/>
  <group>

    <!--    Radar scan filter-->
    <group>
      <push-ros-namespace namespace="radarscan_filtering"/>
      <include file="$(find-pkg-share radar_scan_to_pointcloud2)/launch/radar_scan_to_pointcloud2.launch.xml">
        <arg name="input/radar" value="/sensing/radar/front/scan_raw"/>
        <arg name="output/amplitude_pointcloud" value="raw/output/amplitude_pointcloud"/>
        <arg name="output/doppler_pointcloud" value="raw/output/doppler_pointcloud"/>
      </include>
    </group>

  </group>
<launch>

Notes for reviewers

Used the same QoS setting as pointcloud_preprocessor:

• autoware.universe/sensing/autoware_pointcloud_preprocessor/src/filter.cpp

  Line 173 in c9aa409

  "input", rclcpp::SensorDataQoS().keep_last(max_queue_size_), cb);

Interface changes

None.

Topic changes

Modifications

Version	Topic Type	Topic Name	Message Type	Description
Old	Pub	~/output/amplitude_pointcloud	RadarScan	rclcpp::QoS{1}
New	Pub	~/output/amplitude_pointcloud	RadarScan	rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size)
Old	Pub	~/output/doppler_pointcloud	RadarScan	rclcpp::QoS{1}
New	Pub	~/output/doppler_pointcloud	RadarScan	rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size)
Old	Sub	~/input/radar	RadarScan	rclcpp::QoS{1}
New	Sub	~/input/radar	RadarScan	rclcpp::SensorDataQoS().keep_last(node_param_.max_queue_size)

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	max_queue_size	long	5	History size of QoS profile.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 26.79%. Comparing base (126ae32) to head (be1206f).
Report is 4 commits behind head on main.

Files with missing lines	Patch %	Lines
...pointcloud2/src/radar_scan_to_pointcloud2_node.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10157      +/-   ##
==========================================
- Coverage   26.80%   26.79%   -0.01%     
==========================================
  Files        1414     1414              
  Lines      108240   108228      -12     
  Branches    41702    41690      -12     
==========================================
- Hits        29010    28998      -12     
- Misses      76355    76359       +4     
+ Partials     2875     2871       -4     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
differential-cuda	0.00% <0.00%> (?)
total	26.79% <ø> (-0.01%)	⬇️	Carriedforward from 126ae32

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[xmfcx]

• Rebased after ci(build_depends.repos): fix for clang-tidy-differential #10162 was merged. If this passes, I'll close the parent issue: clang-tidy-differential workflow doesn't work #10159

[xmfcx]

OK it functions as expected, sorry for the inconvenience.

[technolojin]

@mebasoglu
Thank you for your contribution.

Can you kindly add the new parameter max_queue_size description to the schema file and the readme?
https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json

[mebasoglu]

Hello @technolojin, sorry, I forgot to add it in the first place. I have added now. Thank you.

[technolojin]

LGTM

tested with old radar messages