Timestamp update #20

amc-nu · 2023-05-25T23:48:30Z

PR Type

Bug Fix

Description

Update azimuth and timestamp calculation based on the new specification.

Review Procedure

Launch each one of the lidar decoders
Playback a rosbag
Verify the timestamp matches the new specification (units: ns, relative to the first block)
Verify the azimuth matches the new specification (rads [0-2pi))

Remarks

There is a known issue with scan splitting in the XT32, which is under investigation and will be addressed in another PR.

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Add CI

* add colcon build env. (base code is 0624e) * move some hpp files, add src folder in livox driver * trivial modification * Update README.md * remove unneccesary files * remove unneccesary header * move third-party source files * update code(20210630) * Delete different test files. * README.md add "4. running" * README crlf * HwInterface/udp_socket.hpp * modify for ros2 run error * Update README.md * accumulate_count * time_stamp * struct LivoxPointXyzrtl packed * GetEchoNumPerPoint() * cloud.width 24000 * time_base -> time_stamp * code fix * cloud.width update * code fix * code fix * StreamStart retry 30sec * code fix * rviz2 * fix format * <br> * format ros2wrapper * frame_id * frame_id * Update README.md * Update README.md * discussion_r664993039 * typo typo brief and only English in the comments. and LivoxDataCallback delete * PI -> M_PI * Revert "PI -> M_PI" This reverts commit c54bbe3b3c1954f82247d38570bdf71a3ddf38b6. * PI -> M_PI 2nd * thread pointer -> shared_ptr * modify CMakelists.txt and package.xml to using ament_cmake_auto * README.md * default node name * add composable node (#4) * add composable node * fix conflicts * fix exec node * change sensor name fix to variable * fix can use ros2_wrapper_main.cpp * README.md * default node name * change namespace * add namespace to topic names Co-authored-by: mitui.hide <h-mitsui@esol.co.jp> * package.xml maintainer and README.md * #discussion_r666683800 * #discussion_r666712110 * #discussion_r665125337 * #discussion_r664995104 * #discussion_r666078326 * #discussion_r665121366 * #discussion_r665121366 Expansion * typedef enum -> enum * typedef enum -> enum * #discussion_r665121708 * #discussion_r665124279 * #discussion_r664995791 * typo #discussion_r670300391 * #discussion_r664987903 * Revert "#discussion_r664987903" This reverts commit 97d78e64c13e5bb59b98bd1f17f1bfd527384852. * #discussion_r664987903 * #discussion_r664988302 * #discussion_r664989270 * #discussion_r664989004 * CMakeList.txt remove(-g -O0) * smart_pointers. #issuecomment-878771481 Co-authored-by: mitui.hide <h-mitsui@esol.co.jp> Co-authored-by: v-nagai7872@esol.co.jp <v-nagai7872@esol.co.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

* add colcon build env. (base code is 0624e) * move some hpp files, add src folder in livox driver * trivial modification * Update README.md * remove unneccesary files * remove unneccesary header * move third-party source files * update code(20210630) * Delete different test files. * README.md add "4. running" * README crlf * HwInterface/udp_socket.hpp * modify for ros2 run error * Update README.md * accumulate_count * time_stamp * struct LivoxPointXyzrtl packed * GetEchoNumPerPoint() * cloud.width 24000 * time_base -> time_stamp * code fix * cloud.width update * code fix * code fix * StreamStart retry 30sec * code fix * rviz2 * fix format * <br> * format ros2wrapper * frame_id * frame_id * Update README.md * Update README.md * discussion_r664993039 * typo typo brief and only English in the comments. and LivoxDataCallback delete * PI -> M_PI * Revert "PI -> M_PI" This reverts commit c54bbe3b3c1954f82247d38570bdf71a3ddf38b6. * PI -> M_PI 2nd * thread pointer -> shared_ptr * modify CMakelists.txt and package.xml to using ament_cmake_auto * README.md * default node name * add composable node (#4) * add composable node * fix conflicts * fix exec node * change sensor name fix to variable * fix can use ros2_wrapper_main.cpp * README.md * default node name * change namespace * add namespace to topic names Co-authored-by: mitui.hide <h-mitsui@esol.co.jp> * package.xml maintainer and README.md * #discussion_r666683800 * #discussion_r666712110 * #discussion_r665125337 * #discussion_r664995104 * #discussion_r666078326 * #discussion_r665121366 * #discussion_r665121366 Expansion * typedef enum -> enum * typedef enum -> enum * #discussion_r665121708 * #discussion_r665124279 * #discussion_r664995791 * esol_ReviewNo6 * esol_ReviewNo26 * esol_ReviewNo24 * Revert "esol_ReviewNo24" This reverts commit 0e8f33341186d6fa4a905de45c8f9aa28b8d29cb. * Revert "esol_ReviewNo24" This reverts commit 0e8f33341186d6fa4a905de45c8f9aa28b8d29cb. * esol_ReviewNo24 * esol_ReviewNo27 * esol_ReviewNo17 * format * esol_ReviewNo21 * develop #1 6bae863876bfda52db848ed31e415a3b16a0b6a8 * tab -> space * develop marge * CMakeLists.txt remove(-g -O0) * T4PUB-358 1st * format and bug-fix * 5#discussion_r677475332 * Add comment semaphore_ * 5#discussion_r678802453 Co-authored-by: mitui.hide <h-mitsui@esol.co.jp> Co-authored-by: v-nagai7872@esol.co.jp <v-nagai7872@esol.co.jp> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: h-mitsui-esol <57085544+h-mitsui-esol@users.noreply.github.com>

* Refactor 1st * pull/6#discussion_r681704754 * pull/6#discussion_r682172984 * pull/6#discussion_r681705368 * pull/6#discussion_r680921593 and pull/6#discussion_r680922194 * pull/6#discussion_r681711654 * 6#discussion_r682170555

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Refactor 1st * pull/6#discussion_r681704754 * pull/6#discussion_r682172984 * pull/6#discussion_r681705368 * pull/6#discussion_r680921593 and pull/6#discussion_r680922194 * pull/6#discussion_r681711654 * 6#discussion_r682170555 * livox_driver utest 1st * T4PUB-437 bug fix. * Fix merge failure 3371552e395f1817adb3a32ea9f95360d72019f8 * pull/9#discussion_r689167375 and pull/9#discussion_r689204716

* Livox Diagnostics. Initial non working commit Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * clang. add tier4 format Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * gitignore. Add Tier4 ignore file Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * wip Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * wip 2 Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * code adaptations to new main branch Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * wip 3 get device status from sensor Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * adaptations for diagnostics from eth packet Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * RosWrapper. parse and report Diagnostics Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * lidar_driver. fix getcommandid switch Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * ros2_driver_wrapper. fix switch indent Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * git workflow. test CI token Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * livox_command. Remove unused CommandPushAbnormalState struct Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * add fallthroughts Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * apply t4 formatting Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * livox_diagnostics. remove unnecessary code for boolean vars Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * ros2_driver_wrapper. clarify level comparison with enum Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * livox_diagnostics. remove unncessary comma at the end of enum Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * ros2_driver_wrapper. group diagnostics members Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * gitignore. remove aw related entries Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * ros2_driver_wrapper. simplify ros diagnostics string Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * revert fallthroughs on switch Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * replace shift logic for bit fields Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * add private keyword to clarify Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * separate diagnostics, remove static definition Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * add missing StatusCodeToLivoxMotorStatus Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * Separate diagnostics to multiple reports Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * update status from sensor Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * wrapper. remove the namespace from the diagnostic task Signed-off-by: amc-nu <abrahammonrroy@yahoo.com> * ros2_wrapper. remove unncessary lidar_identifier Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

* replace AT128 pcd file for test * apply clang format Signed-off-by: amc-nu <abraham.monrroy@gmail.com> --------- Signed-off-by: amc-nu <abraham.monrroy@gmail.com> Co-authored-by: Kyutoku <github@kyutoku.cloud>

* Remove Boost warnings Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Optimize Pandar40P Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Pandar64 optimization Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * PointTypes. standardize point types Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Add radian based elevation calculation Pandar40P,64 Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * qt64. radian based coordinate calculation Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * xt32. radian based coordinate calculation Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * qt128. radian based coordinate calculation Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * qt128. radian based coordinate calculation Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * pandar40. precalculate sin/cos Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * pandarxt. precalculate te sin/cos Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * apply sin/cos optimization to all decoders Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> * launch. fix python launch file Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * point_type. caetr SSE alignment optimization Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * hesai_hw. remove warning Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * point_types. add sse description for caetr Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * README. run tests only for nebula packages Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * clang. apply ament_clang reformat Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Replace 40P, 64, QT64 and XT32s' PCD files to fix testing * remove clang-format from tests Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Local path check not required for online acquisition * Adding timeouts to correction data acquisition * Disable calibration query Signed-off-by: amc-nu <abraham.monrroy@gmail.com> --------- Signed-off-by: amc-nu <abraham.monrroy@gmail.com> Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com> Co-authored-by: Kyutoku <github@kyutoku.cloud>

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

…tamp_update

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp

nebula_decoders/src/nebula_decoders_hesai/decoders/pandar_128_e4x_decoder.cpp

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

drwnz

LGTM!
Tested on XT32, seems good and matches spec.

h-mitsui-esol and others added 30 commits May 27, 2021 10:59

first commit

70c2e7d

Add CI

0559755

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Merge pull request #2 from tier4/add-ci

b500c14

Add CI

Refactor 1st (#6)

2a9dd3a

* Refactor 1st * pull/6#discussion_r681704754 * pull/6#discussion_r682172984 * pull/6#discussion_r681705368 * pull/6#discussion_r680921593 and pull/6#discussion_r680922194 * pull/6#discussion_r681711654 * 6#discussion_r682170555

Use default qos for imu (#8)

1696207

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

nebula structure

71e767d

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

nebula wip

4a086a9

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

remove transport driver

4ba703d

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

move livox, start nebula base

ba33855

reorganize pkg

e612a8d

Initial POC Hesai driver structure

ae3dd0f

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

POC Hesai driver hw interface

3022948

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

initial 'working' version

1c8f286

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

restructuration

2f8d520

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

README

a5fac77

Signed-off-by: amc-nu <abrahammonrroy@yahoo.com>

attempts at getting the UDP driver to work

211e8fd

fix hw_interface

04d46c3

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

clang. update with t4 format

290ddf3

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

nebula. add missing headers

30dcb7c

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

start of packet handling

32b2b56

hesai_msgs. add jumbo message

14e36d8

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

hesai. add packet parsing and scan formation code

6445c03

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

apply clang formatting

7c6b9ea

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

hesai_ros. reorder includes

5c63b84

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

hesai_ros. todo

a79c1b5

Signed-off-by: Abraham Cano <abrahammonrroy@yahoo.com>

initial working hesai udp driver

c61723e

amc-nu and others added 21 commits April 21, 2023 14:20

Remove old doc files

60acdcb

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

package.xml remove unnecessary dependencies

86bbf51

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

remove deprecated packages

218b22f

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

Add PointCloud conversion methods

c4499be

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

Replace AT128's PCD file to fix testing (#43)

dacaf15

* replace AT128 pcd file for test * apply clang format Signed-off-by: amc-nu <abraham.monrroy@gmail.com> --------- Signed-off-by: amc-nu <abraham.monrroy@gmail.com> Co-authored-by: Kyutoku <github@kyutoku.cloud>

style(pre-commit): autofix

fa9e4d4

style(pre-commit): autofix

e9760f0

remove unnecesary dependency

5e07759

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

velodyne. add monitor to velodyne

5b7116f

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

monitor. reduce reporting verbosity, frequency

a9c8408

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

style(pre-commit): autofix

eb26fc4

hesai_decoders. update timestamp calculation

5cc608d

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

hesai_decoders. update azimuth

d49ce0e

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

fix point.azimuth of pandar64

acb6154

Merge branch 'timestamp_update' of github.com:MapIV/nebula into times…

9b6fbcd

…tamp_update

hesai_decoders. azimuth update

2165b79

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

update timestamping

b2dd3dd

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

decoders. timing azimuth update

f2a2441

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

Merge branch 'main' into timestamp_update

535d0a5

style(pre-commit): autofix

725aed6

drwnz reviewed May 26, 2023

View reviewed changes

nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp Show resolved Hide resolved

nebula_decoders/src/nebula_decoders_hesai/decoders/pandar_128_e4x_decoder.cpp Outdated Show resolved Hide resolved

amc-nu and others added 5 commits May 29, 2023 11:43

nebula decoders. time distance update

b982ad7

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

nebula common. change point type

f6e1ef2

Signed-off-by: amc-nu <abraham.monrroy@gmail.com>

Merge remote-tracking branch 't4/timestamp_update' into timestamp_update

556a883

Merge branch 'main' into timestamp_update

5186b32

style(pre-commit): autofix

643140f

drwnz approved these changes May 29, 2023

View reviewed changes

drwnz merged commit 6dfab06 into main May 29, 2023

amc-nu deleted the timestamp_update branch June 6, 2023 00:58

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Timestamp update #20

Timestamp update #20

amc-nu commented May 25, 2023

drwnz left a comment

Timestamp update #20

Timestamp update #20

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amc-nu commented May 25, 2023

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