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feat(hesai): add a ring section filter to Hesai sensors #182

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feat(hesai): add a ring section filter to Hesai sensors #182

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Commits on Jul 23, 2024

  1. refactor(hesai): move calibration handling from decoder wrapper to RO… 

    …S wrapper
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  2. chore(hesai): make clang and pre-commit happy

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  3. chore(hesai_cmd_response): add missing imports

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  4. feat(hesai_decoder): filter points outside of configured FoV

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  5. chore(hesai_ros_wrapper): fix clang-tidy errors

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  6. feat(hesai_common): calculate FoV padding in calibration config

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  7. chore(hesai): fix clang-tidy errors

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  8. feat(hesai): automatic hardware FoV oversizing

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  9. feat(hesai): publish on cloud_max_angle

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  10. fix(hesai_hw_interface): calculate correct FOV angle units

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  11. fix(hesai): cut scans correctly in edge cases

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  12. test(hesai): add scan cutting tests

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  13. fix(hesai_ros_decoder_test): set missing cloud_min_angle, cloud_max_a… 

    …ngle in params
    @mojomex
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  14. fix(at128): disable unsupported lidar range feature for AT128

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  15. test(hesai): rewrite reference data to reflect edge effects of new sc… 

    …an cutting

The new scan cutting mechanism filters points based on the corrected angle. This changes the points contained/filtered out at the edges of the scan cut.
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  16. fix(at128): do not issue unsupported monitor command

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  17. temp: instrumentation for pointcloud time delay

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  18. ci(pre-commit): autofix

    @pre-commit-ci @mojomex
    pre-commit-ci[bot] authored and mojomex committed Jul 23, 2024
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  19. works now, rebase later

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  20. WIP packet loss

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  21. refactor(hesai): replace scan_phase by sync_angle and cut_angle

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Commits on Aug 2, 2024

  1. toriaezu working on 360deg lidars

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  2. less hacky working version for 360deg lidars

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  3. wip AT128

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  4. AT128 maybz?

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  5. ci(pre-commit): autofix

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Commits on Aug 5, 2024

  1. AT128 mostly working, edge cases unsure (need real sensor to test)

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  2. ci(pre-commit): autofix

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Commits on Aug 6, 2024

  1. AT128 working

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  2. Parameter edge cases working

    @mojomex
    mojomex committed Aug 6, 2024
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  3. correct cut angle for at128

    @mojomex
    mojomex committed Aug 6, 2024
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  4. chore(hesai): regenerate and fix unit tests

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    mojomex committed Aug 6, 2024
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Commits on Aug 14, 2024

  1. chore: add 'centi' to dictionary

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Commits on Aug 15, 2024

  1. chore(nebula_tests/hesai): make sure each checked cloud contains at l… 

    …east one point
    @mojomex
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  2. chore(nebula_tests/hesai): add fov params to tests, clean up params

    @mojomex
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  3. chore(nebula_tests/hesai): add fov cutting unit tests

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Commits on Aug 19, 2024

  1. chore(hesai): make namespaces c++17-style one-liners

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  2. chore(hesai): mark single-arg constructor explicit

    @mojomex
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  3. chore(hesai): favor using over typedef

    @mojomex
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  4. chore(hesai): initialize uninitialized vars

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  5. chore(hesai): clean up imports

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  6. chore(hesai): inline function defined in header

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  7. chore(hesai): fix case style for some functions and variables

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  8. chore(hesai: favor range-based loop over index-based one

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  9. chore(hesai): add missing stdexcept include

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  10. Merge branch 'develop' into hesai-better-fov

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  11. Merge branch 'develop' into hesai-better-fov

    @mojomex
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Commits on Aug 30, 2024

  1. fix(hesai): fix logic that decides whether to publish packets

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  2. chore(continental): fix compiler errors

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  3. chore: add missing diagnostic_updater dependency to nebula_tests

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  4. fix(hesai_ros_wrapper): reject sync_angle = 360 as this will crash th… 

    …e sensors
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Commits on Sep 4, 2024

  1. fix(hesai_ros_wrapper): disallow cutting at start of scan (except for… 

    … 360deg FoV) to avoid publishing pointclouds later than necessary.
    @mojomex
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Commits on Sep 5, 2024

  1. fix(at128): disallow sync angles outside the [30, 150] deg range

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  2. Merge remote-tracking branch 'origin/develop' into hesai-better-fov

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  3. fix(hesai_ros_wrapper): auto-override cut angle at FoV start with cut… 

    … angle at FoV end in order to publish pointclouds as soon as possible after comletion
    @mojomex
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  4. chore(expected): make expected move-constructable from value/error types

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  5. chore: add abstract point filter class and add to Hesai sensor config

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  6. chore: add abstract point filter class and add to Hesai sensor config

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  7. chore(hesai_decoder): add support for point filters

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  8. feat(nebula_ros): add support for point filters as parameters

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  9. fix: remove duplicate nlohmann-json-dev dependency

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  10. docs: add point filter docs

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  11. fix(hesai_decoder): remove use of undefined perf_cnt_

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  12. chore(nebula_common): add function to get number of channels for a gi… 

    …ven sensor model
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  13. feat(ring_section_filter): check if the provided filters exceed the s… 

    …ensor's number of channels
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  14. ci(pre-commit): autofix

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Commits on Sep 10, 2024

  1. chore(point_filters): allow empty string (= no filters) in parser

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  2. chore(point_filters): add inline to function in header file

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Commits on Oct 21, 2024

  1. fix(hesai): workaround for PCL bug to fix pointcloud size fields when… 

    … filters are enabled

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
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