fix(hesai_hw_interface): hesai interface #72
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* Fix(GetLidarCalibration) * Skip GetInventory if unable to connect * fix monitor * clean * remove comments Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * at128. remove warnings Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * decoder. check calibration Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * Saving calibration data from sensor (except AT128) * Saving correction data from sensor (AT128) * fix(AT128 path) * info for debugging * nebula_hesai_ros. at128 fallback to offline Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * syncGetLidarCalibrationFromSensor -> GetLidarCalibrationFromSensor (AT128) * hesai_decoder_ros. message on tcp fail Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * comment out da902901c4cd900bfbf906caf76ae143fe4a88a6 * Check "start of packet" in correction data * hesai_decoder. save dat file Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * TcpDriver startup delay for setup_sensor * delay & retry * at1282ex. return mode checks Signed-off-by: amc-nu <abraham.monrroy@gmail.com> * check lock * check "isOpen" --------- Signed-off-by: amc-nu <abraham.monrroy@gmail.com> Co-authored-by: Kyutoku <github@kyutoku.cloud>
Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
Signed-off-by: amc-nu <abraham.monrroy@gmail.com>
amc-nu
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## main #72 +/- ##
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- Coverage 9.93% 9.52% -0.41%
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Files 118 51 -67
Lines 10149 6938 -3211
Branches 1533 828 -705
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- Hits 1008 661 -347
+ Misses 8036 5719 -2317
+ Partials 1105 558 -547
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When restarting the driver multiple times with the device connected, after the 4th attempt I get this warning:
[component_container-1] [WARN] [1697789855.726097568] [hesai_hw_monitor_ros_wrapper_node]: diagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.
This is coming from diagnostic updater - I guess this is related to the TCP connection limitation we discussed? FYI this is on the AT128.
The device still works, and the configuration also seems to stick so not a major issue.
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Yes, exactly. The sensor stops receiving commands. |
It does seem to still correctly configure the sensor though? |
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It configures the sensor only during the first attempts. Afterwards the sensor rejects all the connections. |
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I will merge this PR and we can work on the TCP rejection issue in a different PR. |
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Related Links
https://tier4.atlassian.net/browse/RT1-3200
https://tier4.atlassian.net/browse/RT1-3111
Description
Improves reliability of Hesai HW Interface.:
sensor_setup:=FalseIncludes the following features:
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