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feat: allow to launch hardware in listen mode #210

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merged 9 commits into from
Oct 25, 2024
Merged

feat: allow to launch hardware in listen mode #210

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db51cea
Add flag to disable communication with hesai sensor
msz-rai Oct 16, 2024
6869e42
Add flag to disable communication with velodyne sensor
msz-rai Oct 16, 2024
febbff3
Skip setting parameters to sensor onConfigChange silently
msz-rai Oct 16, 2024
c6ace87
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 16, 2024
80358dc
Review fixes: Rename communicate_with_sensor -> udp_only
msz-rai Oct 21, 2024
df38aec
Review fixes: Log info when UDP-only mode is enabled
msz-rai Oct 21, 2024
aa15064
Review fixes: Fix schemas
msz-rai Oct 21, 2024
8178948
Review fixes: Rephrase docs
msz-rai Oct 21, 2024
c2f758e
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 21, 2024
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54 changes: 28 additions & 26 deletions docs/parameters.md
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Expand Up @@ -60,21 +60,22 @@ Parameters shared by all supported models:

### Hardware interface parameters

| Parameter | Type | Default | Accepted values | Description |
| ------------------------------ | ------ | --------------- | ----------------- | ------------------------------ |
| frame_id | string | hesai | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| rotation_speed | uint16 | 600 | | Rotation speed |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| dual_return_distance_threshold | double | 0.1 | | Dual return distance threshold |
| diag_span | uint16 | 1000 | milliseconds, > 0 | Diagnostic span |
| setup_sensor | bool | True | True, False | Configure sensor settings |
| Parameter | Type | Default | Accepted values | Description |
| ------------------------------ | ------ | --------------- | ----------------- | ------------------------------------------------------------ |
| frame_id | string | hesai | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| gnss_port | uint16 | 2369 | | GNSS port |
| frequency_ms | uint16 | 100 | milliseconds, > 0 | Time per scan |
| packet_mtu_size | uint16 | 1500 | | Packet MTU size |
| rotation_speed | uint16 | 600 | | Rotation speed |
| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle |
| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle |
| dual_return_distance_threshold | double | 0.1 | | Dual return distance threshold |
| diag_span | uint16 | 1000 | milliseconds, > 0 | Diagnostic span |
| setup_sensor | bool | True | True, False | Configure sensor settings |
| communicate_with_sensor | bool | True | True, False | Enable communication with sensor (listen mode only if false) |

### Driver parameters

Expand All @@ -97,17 +98,18 @@ Parameters shared by all supported models:

### Hardware interface parameters

| Parameter | Type | Default | Accepted values | Description |
| --------------- | ------ | --------------- | ----------------- | --------------- |
| frame_id | string | velodyne | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| 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 |
| Parameter | Type | Default | Accepted values | Description |
| ----------------------- | ------ | --------------- | ----------------- | ------------------------------------------------------------ |
| frame_id | string | velodyne | | ROS frame ID |
| sensor_ip | string | 192.168.1.201 | | Sensor IP |
| host_ip | string | 255.255.255.255 | | Host IP |
| data_port | uint16 | 2368 | | Sensor port |
| 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 |
| communicate_with_sensor | bool | True | True, False | Enable communication with sensor (listen mode only if false) |

### Driver parameters

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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar128E4X.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar40P.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/Pandar64.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarAT128.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
correction_file: $(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarQT128.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarQT64.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarXT32.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/hesai/PandarXT32M.param.yaml
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Expand Up @@ -8,6 +8,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: hesai
diag_span: 1000
min_range: 0.3
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLP16.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLP32.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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1 change: 1 addition & 0 deletions nebula_ros/config/lidar/velodyne/VLS128.param.yaml
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Expand Up @@ -7,6 +7,7 @@
packet_mtu_size: 1500
launch_hw: true
setup_sensor: true
communicate_with_sensor: true
frame_id: velodyne
advanced_diagnostics: false
diag_span: 1000
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4 changes: 3 additions & 1 deletion nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
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Expand Up @@ -27,7 +27,8 @@ class HesaiHwInterfaceWrapper
public:
HesaiHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config,
bool communicate_with_sensor = true);

void on_config_change(
const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
Expand All @@ -41,5 +42,6 @@ class HesaiHwInterfaceWrapper
rclcpp::Logger logger_;
nebula::Status status_;
bool setup_sensor_;
bool communicate_with_sensor_;
};
} // namespace nebula::ros
4 changes: 3 additions & 1 deletion nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp
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Expand Up @@ -29,7 +29,8 @@ class VelodyneHwInterfaceWrapper
public:
VelodyneHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config);
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config,
bool communicate_with_sensor = true);

void on_config_change(
const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & new_config);
Expand All @@ -43,5 +44,6 @@ class VelodyneHwInterfaceWrapper
rclcpp::Logger logger_;
nebula::Status status_;
bool setup_sensor_;
bool communicate_with_sensor_;
};
} // namespace nebula::ros
14 changes: 10 additions & 4 deletions nebula_ros/src/hesai/hesai_ros_wrapper.cpp
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Expand Up @@ -40,20 +40,26 @@
RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);

launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
bool communicate_with_sensor =
declare_parameter<bool>("communicate_with_sensor", param_read_only());

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if (launch_hw_) {
hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->hw_interface(), sensor_cfg_ptr_);
hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_, communicate_with_sensor);

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if (communicate_with_sensor) { // hardware monitor requires communication with sensor
hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->hw_interface(), sensor_cfg_ptr_);

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}
}

auto calibration_result = get_calibration_data(sensor_cfg_ptr_->calibration_path);
bool force_load_caibration_from_file = !communicate_with_sensor;

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auto calibration_result =
get_calibration_data(sensor_cfg_ptr_->calibration_path, force_load_caibration_from_file);

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if (!calibration_result.has_value()) {
throw std::runtime_error(
(std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
}

if (
hw_interface_wrapper_ &&
hw_interface_wrapper_ && communicate_with_sensor &&

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sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
auto status =
hw_interface_wrapper_->hw_interface()->checkAndSetLidarRange(*calibration_result.value());
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13 changes: 10 additions & 3 deletions nebula_ros/src/hesai/hw_interface_wrapper.cpp
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Expand Up @@ -9,10 +9,12 @@

HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config)
std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config,
bool communicate_with_sensor)

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: hw_interface_(new nebula::drivers::HesaiHwInterface()),
logger_(parent_node->get_logger().get_child("HwInterface")),
status_(Status::NOT_INITIALIZED)
status_(Status::NOT_INITIALIZED),
communicate_with_sensor_(communicate_with_sensor)

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{
setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", param_read_only());
bool retry_connect = parent_node->declare_parameter<bool>("retry_hw", param_read_only());
Expand All @@ -28,6 +30,11 @@
hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
hw_interface_->SetTargetModel(config->sensor_model);

if (!communicate_with_sensor_) {
// Do not initialize Tcp if communication is disabled
return;
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}

int retry_count = 0;

while (true) {
Expand Down Expand Up @@ -65,7 +72,7 @@
{
hw_interface_->SetSensorConfiguration(
std::static_pointer_cast<const nebula::drivers::SensorConfigurationBase>(new_config));
if (setup_sensor_) {
if (communicate_with_sensor_ && setup_sensor_) {
hw_interface_->CheckAndSetConfig();
}
}
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19 changes: 14 additions & 5 deletions nebula_ros/src/velodyne/hw_interface_wrapper.cpp
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Expand Up @@ -7,10 +7,12 @@

VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
rclcpp::Node * const parent_node,
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config)
std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config,
bool communicate_with_sensor)

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: hw_interface_(new nebula::drivers::VelodyneHwInterface()),
logger_(parent_node->get_logger().get_child("HwInterfaceWrapper")),
status_(Status::NOT_INITIALIZED)
status_(Status::NOT_INITIALIZED),
communicate_with_sensor_(communicate_with_sensor)

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{
setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", param_read_only());

Expand All @@ -23,6 +25,11 @@
(std::stringstream{} << "Could not initialize HW interface: " << status_).str());
}

if (!communicate_with_sensor_) {
// Do not initialize http client if communication is disabled
return;
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}

status_ = hw_interface_->init_http_client();

if (status_ != Status::OK) {
Expand All @@ -47,9 +54,11 @@
const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & new_config)
{
hw_interface_->initialize_sensor_configuration(new_config);
hw_interface_->init_http_client();
if (setup_sensor_) {
hw_interface_->set_sensor_configuration(new_config);
if (communicate_with_sensor_) {
hw_interface_->init_http_client();

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if (setup_sensor_) {
hw_interface_->set_sensor_configuration(new_config);

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}
}
}

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8 changes: 6 additions & 2 deletions nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
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Expand Up @@ -27,10 +27,14 @@
RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);

launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
bool communicate_with_sensor =
declare_parameter<bool>("communicate_with_sensor", param_read_only());

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if (launch_hw_) {
hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->hw_interface(), sensor_cfg_ptr_);
hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_, communicate_with_sensor);

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if (communicate_with_sensor) { // hardware monitor requires communication with sensor
hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->hw_interface(), sensor_cfg_ptr_);

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}
}

decoder_wrapper_.emplace(
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