fix(hesai): handle cut at 0/360deg correctly for non-360 and 360deg FoVs

nebula_ros/src/hesai/hesai_ros_wrapper.cpp

@@ -113,7 +113,7 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
 
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
-    descriptor.floating_point_range = float_range(0, 359.99, 0.01);
+    descriptor.floating_point_range = float_range(0, 360, 0.01);
     descriptor.description =
       "At which angle to start a new scan. Cannot be equal to the start angle in a non-360 deg "
       "FoV. Choose the end angle instead.";
@@ -240,6 +240,13 @@ Status HesaiRosWrapper::ValidateAndSetConfig(
     return Status::SENSOR_CONFIG_ERROR;
   }
 
+  // Handling cutting at 360deg (as opposed to 0deg) for a full 360deg FoV requires a special case
+  // in the cutting logic. Thus, require the user to cut at 0deg.
+  if (fov_is_360 && new_config->cut_angle == 360) {
+    RCLCPP_ERROR(get_logger(), "Cannot cut a 360deg FoV at 360deg. Cut at 0deg instead.");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+
   if (hw_interface_wrapper_) {
     hw_interface_wrapper_->OnConfigChange(new_config);
   }