Merge branch 'main' into pr/ike-kazu/180

nebula_common/include/nebula_common/continental/continental_ars548.hpp

@@ -620,7 +620,7 @@ struct FilterStatusPacket
 
 #pragma pack(pop)
 
-struct PointARS548Detection
+struct EIGEN_ALIGN16 PointARS548Detection
 {
   PCL_ADD_POINT4D;
   float azimuth;
@@ -639,11 +639,11 @@ struct PointARS548Detection
   uint16_t object_id;
   uint8_t ambiguity_flag;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 // Note we only use a subset of the data since POINT_CLOUD_REGISTER_POINT_STRUCT has a limit in the
 // number of fields
-struct PointARS548Object
+struct EIGEN_ALIGN16 PointARS548Object
 {
   PCL_ADD_POINT4D;
   uint32_t id;
@@ -664,7 +664,7 @@ struct PointARS548Object
   float shape_width_edge_mean;
   float dynamics_orientation_rate_mean;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 }  // namespace continental_ars548
 }  // namespace drivers

nebula_common/include/nebula_common/point_types.hpp

@@ -8,13 +8,13 @@ namespace nebula
 {
 namespace drivers
 {
-struct PointXYZIR
+struct EIGEN_ALIGN16 PointXYZIR
 {
   PCL_ADD_POINT4D;
   float intensity;
   uint16_t ring;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 struct PointXYZICATR
 {
@@ -43,7 +43,7 @@ struct PointXYZIRCAEDT
   std::uint32_t time_stamp;
 };
 
-struct PointXYZIRADT
+struct EIGEN_ALIGN16 PointXYZIRADT
 {
   PCL_ADD_POINT4D;
   float intensity;
@@ -53,7 +53,7 @@ struct PointXYZIRADT
   uint8_t return_type;
   double time_stamp;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 using NebulaPoint = PointXYZIRCAEDT;
 using NebulaPointPtr = std::shared_ptr<NebulaPoint>;

nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp

@@ -578,6 +578,14 @@ Status ContinentalARS548HwInterface::SetYawRate(float yaw_rate)
   return Status::OK;
 }
 
+Status ContinentalARS548HwInterface::CheckAndSetConfig()
+{
+  RCLCPP_ERROR(
+    *parent_node_logger,
+    "This functionality is not yet implemented. Sensor is probably out of sync with config now.");
+  return Status::ERROR_1;
+}
+
 void ContinentalARS548HwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)
 {
   parent_node_logger = logger;

nebula_hw_interfaces/src/nebula_continental_hw_interfaces/multi_continental_ars548_hw_interface.cpp

@@ -406,6 +406,14 @@ Status MultiContinentalARS548HwInterface::SetYawRate(float yaw_rate)
   return Status::OK;
 }
 
+Status MultiContinentalARS548HwInterface::CheckAndSetConfig()
+{
+  RCLCPP_ERROR(
+    *parent_node_logger,
+    "This functionality is not yet implemented. Sensor is probably out of sync with config now.");
+  return Status::ERROR_1;
+}
+
 void MultiContinentalARS548HwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)
 {
   parent_node_logger = logger;

nebula_messages/nebula_msgs/package.xml

@@ -9,7 +9,7 @@
   <license>Apache 2</license>
   <author>Tier IV</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>

nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml

@@ -2,15 +2,15 @@ rosbag2_bagfile_information:
   version: 5
   storage_identifier: sqlite3
   duration:
-    nanoseconds: 277624032
+    nanoseconds: 263164997
   starting_time:
-    nanoseconds_since_epoch: 1614315746471294674
+    nanoseconds_since_epoch: 1585897255313147068
   message_count: 4
   topics_with_message_count:
     - topic_metadata:
-        name: /sensing/lidar/top/velodyne_packets
+        name: /velodyne_packets
         type: velodyne_msgs/msg/VelodyneScan
-        serialization_format: cdr
+        serialization_format: ""
         offered_qos_profiles: ""
       message_count: 4
   compression_format: ""
@@ -20,7 +20,7 @@ rosbag2_bagfile_information:
   files:
     - path: 1614315746471294674_0.db3
       starting_time:
-        nanoseconds_since_epoch: 1614315746471294674
+        nanoseconds_since_epoch: 1585897255313147068
       duration:
-        nanoseconds: 277624032
-      message_count: 4
+        nanoseconds: 263164997
+      message_count: 4

nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp

@@ -223,7 +223,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>(
-      "target_topic", "/sensing/lidar/top/velodyne_packets", descriptor);
+      "target_topic", "/velodyne_packets", descriptor);
     target_topic = this->get_parameter("target_topic").as_string();
   }
 
@@ -315,7 +315,6 @@ void VelodyneRosDecoderTest::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
   rclcpp::Serialization<velodyne_msgs::msg::VelodyneScan> serialization;
   nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
   // nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud);