feat: disabled objects from corner radars since they are not supported

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp

@@ -245,6 +245,16 @@ bool ContinentalARS548Decoder::parse_detections_list_packet(
 bool ContinentalARS548Decoder::parse_objects_list_packet(
   const nebula_msgs::msg::NebulaPacket & packet_msg)
 {
+  // cSpell:ignore knzo25
+  // NOTE(knzo25): In the radar firmware used when developing this driver,
+  // corner radars were not supported. When a new firmware addresses this,
+  // the driver will be updated.
+  if (
+    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
+    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+    return true;
+  }
+
   auto msg_ptr = std::make_unique<continental_msgs::msg::ContinentalArs548ObjectList>();
   auto & msg = *msg_ptr;
 
@@ -345,27 +355,6 @@ bool ContinentalARS548Decoder::parse_objects_list_packet(
     object_msg.orientation = object.position_orientation.value();
     object_msg.orientation_std = object.position_orientation_std.value();
 
-    // cSpell:ignore knzo25
-    // NOTE(knzo25): In the radar firmware used when developing this driver,
-    // corner radars are not supported. We can partially address this,
-    // but the coordinates look only spatially correct (not the dynamics).
-    // so its use is the responsibility of the user.
-    // Corner radars are expected to be supported in a new firmware version,
-    // but this is not yet confirmed.
-    if (
-      std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
-      std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
-      const double dx = radar_status_.longitudinal + radar_status_.wheel_base;
-      const double dy = radar_status_.lateral;
-      double x = object_msg.position.x - dx;
-      double y = object_msg.position.y - dy;
-      const auto & yaw = radar_status_.yaw;
-
-      object_msg.position.x = x * std::cos(yaw) - y * std::sin(yaw) + dx;
-      object_msg.position.y = x * std::sin(yaw) + y * std::cos(yaw) + dy;
-      object_msg.orientation += yaw;
-    }
-
     object_msg.existence_probability = object.existence_probability.value();
     object_msg.classification_car = object.classification_car;
     object_msg.classification_truck = object.classification_truck;

nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp

@@ -206,26 +206,21 @@ void ContinentalARS548DecoderWrapper::sensor_status_callback(
 
   // cSpell:ignore knzo25
   // NOTE(knzo25): In the radar firmware used when developing this driver,
-  // corner radars are not supported. We can partially address this,
-  // but the coordinates look only spatially correct (not the dynamics).
-  // so its use is the responsibility of the user.
-  // Corner radars are expected to be supported in a new firmware version,
-  // but this is not yet confirmed.
+  // corner radars were not supported. When a new firmware addresses this,
+  // the driver will be updated.
   if (
     std::abs(sensor_status.yaw) > 5.0 * M_PI / 180.0 &&
     std::abs(sensor_status.yaw) < 90.0 * M_PI / 180.0) {
     rclcpp::Clock clock{RCL_ROS_TIME};
     RCLCPP_WARN_THROTTLE(
       logger_, clock, 5000,
-      "This radar has been configured as a corner radar, which is not supported by the sensor. We "
-      "can partially address this, but the coordinates look only spatially correct (not the "
-      "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "
-      "supported in a new firmware version, but this is not yet confirmed.");
+      "This radar has been configured as a corner radar, which is not supported by the sensor. The "
+      "driver will not output any objects");
 
     status.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
     status.message +=
-      ". Unsupported mounting configuration (corner radar). This should only be used for "
-      "evaluation purposes.";
+      ". Unsupported mounting configuration (corner radar). Only detections should be used under "
+      "these conditions.";
   }
 
   auto add_diagnostic = [&status](const std::string & key, const std::string & value) {

nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp

@@ -217,18 +217,13 @@ void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
 
   // cSpell:ignore knzo25
   // NOTE(knzo25): In the radar firmware used when developing this driver,
-  // corner radars are not supported. We can partially address this,
-  // but the coordinates look only spatially correct (not the dynamics).
-  // so its use is the responsibility of the user.
-  // Corner radars are expected to be supported in a new firmware version,
-  // but this is not yet confirmed.
+  // corner radars were not supported. When a new firmware addresses this,
+  // the driver will be updated.
   if (std::abs(yaw) > 5.0 * M_PI / 180.0 && std::abs(yaw) < 90.0 * M_PI / 180.0) {
     RCLCPP_WARN(
       logger_,
-      "This radar has been configured as a corner radar, which is not supported by the sensor. We "
-      "can partially address this, but the coordinates look only spatially correct (not the "
-      "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "
-      "supported in a new firmware version, but this is not yet confirmed.");
+      "You are attempting to configure the device as a corner radar, which is not supported so "
+      "far.");
   }
 
   auto result = hw_interface_->set_sensor_mounting(