feat(ars548): initial driver

.cspell.json

@@ -7,6 +7,7 @@
     "Adctp",
     "AT",
     "block_id",
+    "extrinsics",
     "gprmc",
     "Hesai",
     "memcpy",
@@ -39,6 +40,8 @@
     "gptp",
     "Idat",
     "Vdat",
+    "autosar",
+    "srvs",
     "manc",
     "ipaddr",
     "ntoa"

README.md

@@ -3,6 +3,7 @@
 Nebula is a sensor driver platform that is designed to provide a unified framework for as wide a variety of devices as possible.
 While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces.
 Nebula provides the following features:
+
 - Support for Velodyne and Hesai sensors, with other LiDAR vendor support under development
 - ROS 2 interface implementations
 - TCP/IP and UDP communication implementations
@@ -14,10 +15,8 @@ Nebula provides the following features:
   - Receiving and interpretation of diagnostics information from the sensor
   - Support for multiple return modes and labelling of return types for each point
 
-
 With a rapidly increasing number of sensor types and models becoming available, and varying levels of vendor and third-party driver support, Nebula creates a centralized driver methodology. We hope that this project will be used to facilitate active collaboration and efficiency in development projects by providing a platform that reduces the need to re-implement and maintain many different sensor drivers. Contributions to extend the supported devices and features of Nebula are always welcome.
 
-
 ## How to build
 
 Nebula builds on ROS Galactic and Humble.
@@ -85,27 +84,27 @@ ros2 launch nebula_ros nebula_launch.py sensor_model:=Pandar64 config_file:=your
 
 Supported models, where sensor_model is the ROS param to be used at launch:
 
-| Manufacturer | Model         | sensor_model | Configuration file | Test status |
-| ------------ | ------------- | ------------ | ------------------ | ----------- |
-| HESAI        | Pandar 64     | Pandar64     | Pandar64.yaml      | :heavy_check_mark: |
-| HESAI        | Pandar 40P    | Pandar40P    | Pandar40P.yaml     | :heavy_check_mark: |
-| HESAI        | Pandar XT32   | PandarXT32   | PandarXT32.yaml    | :heavy_check_mark: |
-| HESAI        | Pandar XT32M  | PandarXT32M  | PandarXT32M.yaml   | :warning: |
-| HESAI        | Pandar QT64   | PandarQT64   | PandarQT64.yaml    | :heavy_check_mark: |
-| HESAI        | Pandar QT128  | PandarQT128  | PandarQT128.yaml   | :warning: |
-| HESAI        | Pandar AT128  | PandarAT128  | PandarAT128.yaml   | :heavy_check_mark:* |
-| HESAI        | Pandar 128E4X | Pandar128E4X | Pandar128E4X.yaml  | :warning: |
-| Velodyne     | VLP-16        | VLP16        | VLP16.yaml         | :warning: |
-| Velodyne     | VLP-16-HiRes  | VLP16        |                    | :x: |
-| Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning: |
-| Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning: |
+| Manufacturer | Model         | sensor_model | Configuration file | Test status          |
+| ------------ | ------------- | ------------ | ------------------ | -------------------- |
+| HESAI        | Pandar 64     | Pandar64     | Pandar64.yaml      | :heavy_check_mark:   |
+| HESAI        | Pandar 40P    | Pandar40P    | Pandar40P.yaml     | :heavy_check_mark:   |
+| HESAI        | Pandar XT32   | PandarXT32   | PandarXT32.yaml    | :heavy_check_mark:   |
+| HESAI        | Pandar XT32M  | PandarXT32M  | PandarXT32M.yaml   | :warning:            |
+| HESAI        | Pandar QT64   | PandarQT64   | PandarQT64.yaml    | :heavy_check_mark:   |
+| HESAI        | Pandar QT128  | PandarQT128  | PandarQT128.yaml   | :warning:            |
+| HESAI        | Pandar AT128  | PandarAT128  | PandarAT128.yaml   | :heavy_check_mark:\* |
+| HESAI        | Pandar 128E4X | Pandar128E4X | Pandar128E4X.yaml  | :warning:            |
+| Velodyne     | VLP-16        | VLP16        | VLP16.yaml         | :warning:            |
+| Velodyne     | VLP-16-HiRes  | VLP16        |                    | :x:                  |
+| Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning:            |
+| Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning:            |
+| Continental  | ARS548        | ARS548       | ARS548.yaml        | :warning:            |
 
 Test status:\
 :heavy_check_mark:: complete\
 :warning:: some functionality yet to be tested\
 :x:: untested\
-*: AT128 needs software version 3.50.8 or newer for the `scan_angle` setting to work correctly.
-
+\*: AT128 needs software version 3.50.8 or newer for the `scan_angle` setting to work correctly.
 
 ## ROS parameters
 
@@ -215,27 +214,26 @@ Parameters shared by all supported models:
 
 #### Driver parameters
 
-| Parameter        | Type   | Default  | Accepted values      | Description                             |
-| ---------------- | ------ | -------- | -------------------- | --------------------------------------- |
-| frame_id         | string | velodyne |                      | ROS frame ID                            |
-| calibration_file | string |          |                      | LiDAR calibration file                  |
-| min_range        | double | 0.3      | meters, >= 0.3       | Minimum point range published           |
-| max_range        | double | 300.0    | meters, <= 300.0     | Maximum point range published           |
-| 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                  |
+| calibration_file | string |          |                  | LiDAR calibration file        |
+| min_range        | double | 0.3      | meters, >= 0.3   | Minimum point range published |
+| max_range        | double | 300.0    | meters, <= 300.0 | Maximum point range published |
+| cloud_min_angle  | uint16 | 0        | degrees [0, 360] | FoV start angle               |
+| cloud_max_angle  | uint16 | 359      | degrees [0, 360] | FoV end angle                 |
 
 ## Software design overview
 
 ![DriverOrganization](docs/diagram.png)
 
-
 ## Hesai Sensor Setup
 
 New Hesai sensors do not provide a Web UI to verify and set up the sensor parameters. Instead, these offer a TCP-based protocol to obtain and set the configuration. Nebula sets these sensors at launch. However, settings such as Destination IP, Sensor IP, IP Mask, and Data Port might cause undesired sensor functioning if the driver gets mistakenly launched with inappropriate values. To overcome this problem, Nebula provides an additional setup script for these settings to avoid such scenarios.
 
 The script requires the installation of dependencies via pip:
 
-`$ pip3 install scripts/requirements.txt  # first-time setup`
+`$ pip3 install scripts/requirements.txt # first-time setup`
 
 Once the dependencies are installed, the setup script can be invoked using the following command:
 
@@ -274,6 +272,7 @@ Run profiling for each version you want to compare:
 git checkout my_improved_branch
 ./scripts/profiling_runner.bash improved -m Pandar64 -b ~/my_rosbag -c 2 -t 20 -n 3
 ```
+
 Show results:
 
 ```bash

build_depends.repos

@@ -2,5 +2,5 @@ repositories:
   # TCP version of transport drivers
   transport_drivers:
     type: git
-    url: https://github.com/MapIV/transport_drivers
-    version: boost
+    url: https://github.com/knzo25/transport_drivers
+    version: feat/multicast_support