fix(velodyne): velodyne fov settings

[drwnz]

PR Type

• Bug Fix

Related Links

TIER IV INTERNAL LINK

Description

For Velodyne sensors, the parameters view_angle and view_width were unused, and the cloud_min_angle and cloud_max_angle for hardware setting are limited to a maximum of 359. This causes a 1 degree missed patch of the point cloud at 359->0 azimuths because the hardware setting parameters are used for software clipping as well.

This PR addresses this issue and endures that hardware parameter setting also do not go above 359.

Review Procedure

• Test on a Velodyne sensor with various scan angles cloud_min_angle and cloud_max_angle
• Also connect to a real sensor to ensure that these settings are applied to the device in hardware

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.