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feat: range param for hesai #121

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merged 6 commits into from
Feb 28, 2024
Merged

feat: range param for hesai #121

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9b82192
add range parameter
yukkysaito Feb 22, 2024
a35b2f1
Merge pull request #120 from yukkysaito/feat/range_param_for_hesai
yukkysaito Feb 22, 2024
17848c1
add test
yukkysaito Feb 28, 2024
f277cbc
Merge remote-tracking branch 'upstream/feat/range_param_for_hesai' in…
yukkysaito Feb 28, 2024
340961b
fix test param
yukkysaito Feb 28, 2024
4a03713
hesai tests. set default min max range depending on model
amc-nu Feb 28, 2024
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5 changes: 4 additions & 1 deletion nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,10 @@ class HesaiDecoder : public HesaiScanDecoder

auto distance = getDistance(unit);

if (distance < SensorT::MIN_RANGE || distance > SensorT::MAX_RANGE) {
if (
distance < SensorT::MIN_RANGE || SensorT::MAX_RANGE < distance ||
distance < sensor_configuration_->min_range ||
sensor_configuration_->max_range < distance) {
continue;
}

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18 changes: 18 additions & 0 deletions nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
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Expand Up @@ -220,6 +220,24 @@ Status HesaiDriverRosWrapper::GetParameters(
calibration_configuration.calibration_file =
this->get_parameter("calibration_file").as_string();
}
{
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.read_only = false;
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
this->declare_parameter<double>("min_range", 0.3, descriptor);
sensor_configuration.min_range = this->get_parameter("min_range").as_double();
}
{
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.read_only = false;
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
this->declare_parameter<double>("max_range", 300., descriptor);
sensor_configuration.max_range = this->get_parameter("max_range").as_double();
}
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
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21 changes: 20 additions & 1 deletion nebula_tests/hesai/hesai_ros_decoder_test.cpp
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Expand Up @@ -148,6 +148,24 @@ Status HesaiRosDecoderTest::GetParameters(
calibration_configuration.calibration_file =
this->get_parameter("calibration_file").as_string();
}
{
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.read_only = true;
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
this->declare_parameter<double>("min_range", params_.min_range, descriptor);
sensor_configuration.min_range = this->get_parameter("min_range").as_double();
}
{
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.read_only = true;
descriptor.dynamic_typing = false;
descriptor.additional_constraints = "";
this->declare_parameter<double>("max_range", params_.max_range, descriptor);
sensor_configuration.max_range = this->get_parameter("max_range").as_double();
}
if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
Expand Down Expand Up @@ -217,7 +235,8 @@ Status HesaiRosDecoderTest::GetParameters(
if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
return Status::INVALID_ECHO_MODE;
}
if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
if (
sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
return Status::SENSOR_CONFIG_ERROR;
}
if (calibration_configuration.calibration_file.empty()) {
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5 changes: 4 additions & 1 deletion nebula_tests/hesai/hesai_ros_decoder_test.hpp
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Expand Up @@ -40,6 +40,8 @@ struct HesaiRosDecoderTestParams
std::string correction_file = "";
std::string frame_id = "hesai";
double scan_phase = 0.;
double min_range = 0.3;
double max_range = 300.;
std::string storage_id = "sqlite3";
std::string format = "cdr";
std::string target_topic = "/pandar_packets";
Expand Down Expand Up @@ -108,7 +110,8 @@ class HesaiRosDecoderTest final : public rclcpp::Node, NebulaDriverRosWrapperBas

/// @brief Read the specified bag file and compare the constructed point clouds with the
/// corresponding PCD files
void ReadBag(std::function<void(uint64_t, uint64_t, nebula::drivers::NebulaPointCloudPtr)> scan_callback);
void ReadBag(
std::function<void(uint64_t, uint64_t, nebula::drivers::NebulaPointCloudPtr)> scan_callback);

HesaiRosDecoderTestParams params_;
};
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2 changes: 2 additions & 0 deletions nebula_tests/hesai/hesai_ros_decoder_test.yaml
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Expand Up @@ -12,6 +12,8 @@
rotation_speed: 200 # Motor RPM, the sensor's internal spin rate.
cloud_min_angle: 0 # Field of View, start degrees.
cloud_max_angle: 360 # Field of View, end degrees.
min_range: 0.3 # Minimum range.
max_range: 300. # Maximum range.
diag_span: 1000 # milliseconds
calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.csv"
correction_file: "./install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.dat"
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29 changes: 29 additions & 0 deletions nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
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Expand Up @@ -24,37 +24,66 @@ const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
"Dual",
"Pandar40P.csv",
"40p/1673400149412331409",
"",
"hesai",
0,
0.3f,
200.f
},
{
"Pandar64",
"Dual",
"Pandar64.csv",
"64/1673403880599376836",
"",
"hesai",
0,
0.3f,
200.f
},
{
"PandarAT128",
"LastStrongest",
"PandarAT128.csv",
"at128/1679653308406038376",
"PandarAT128.dat",
"hesai",
0,
1.f,
180.f
},
{
"PandarQT64",
"Dual",
"PandarQT64.csv",
"qt64/1673401195788312575",
"",
"hesai",
0,
0.1f,
60.f
},
{
"PandarXT32",
"Dual",
"PandarXT32.csv",
"xt32/1673400677802009732",
"",
"hesai",
0,
0.05f,
120.f
},
{
"PandarXT32M",
"LastStrongest",
"PandarXT32M.csv",
"xt32m/1660893203042895158",
"",
"hesai",
0,
0.5f,
300.f
}};

// Compares geometrical output of decoder against pre-recorded reference pointcloud.
Expand Down
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