feat(sync_angle): hesai. Enable Clock Sync Features

[amc-nu]

PR Type

• New Feature

Related Links

https://tier4.atlassian.net/browse/RT1-3110?atlOrigin=eyJpIjoiZjIyZDQ1ODA1NmZmNGQyNWIzOTNmZTg5YzlmMmVhY2MiLCJwIjoiaiJ9

Description

• Sets lidar sync angle on launch on Hesai drivers.
• Sets PTP as the default clock source
• Sets PTP config to IEEE1588v2 over UDP/IP as default.

Review Procedure

• Set a value in the scan_phase parameter in the launch file.
• Launch the driver.
• Verify the value has changed using Lidar's web UI.

Remarks

There is a known bug on the Pandar40P where the Lidar only responds to the first TCP command causing timeout on the subsequent commands. The only known way to solve this is to power cycle the Lidar.

NOTE: This won't work with the AT128 since it doesn't support PTP setup through TCP commands.
Added support for the AT128 via HTTP.

[codecov-commenter]

Codecov Report

Patch coverage has no change and project coverage change: +2.77 🎉

Comparison is base (a3d2788) 13.44% compared to head (6f4086e) 16.21%.

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Additional details and impacted files

@@            Coverage Diff             @@
##             main      #39      +/-   ##
==========================================
+ Coverage   13.44%   16.21%   +2.77%     
==========================================
  Files         111       54      -57     
  Lines       10852     8577    -2275     
  Branches     1703     1687      -16     
==========================================
- Hits         1459     1391      -68     
+ Misses       8224     6021    -2203     
+ Partials     1169     1165       -4     

Flag	Coverage Δ
differential	16.21% <0.00%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00% <0.00%> (ø)
...ebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp	0.00% <ø> (ø)
.../nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp	0.00% <ø> (ø)
...ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp	0.00% <ø> (ø)
...a_ros/velodyne/velodyne_hw_monitor_ros_wrapper.hpp	0.00% <ø> (ø)
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00% <0.00%> (ø)
...ula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp	0.00% <0.00%> (ø)

... and 57 files with indirect coverage changes

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[drwnz]

Tested on AT128 and Pandar40P. As noted, Pandar40P needs a device restart before settings are applied.
Sync angle settings are working as required.