fix(nebula_launch): pass correct default path for AT128 correction file

[mojomex]

PR Type

• Bug Fix

Description

When AT128 packets are played from ros2 bag and nebula is launched via ros2 launch nebula_ros nebula_launch.py sensor_model:=PandarAT128 launch_hw:=False without having been connected to a sensor before, pointclouds will not be output with the following error:

[component_container-1] [ERROR 1711437207.368933061] [HesaiDriver]: Scanned 624 packets, but no pointclouds were generated. Last azimuth: 959294 (ConvertScanToPointcloud() at /home/maxschmeller/nebula/src/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp:96)
[component_container-1] [WARN 1711437207.368961276] [hesai_driver_ros_wrapper_node]: Empty cloud parsed. (ReceiveScanMsgCallback() at /home/maxschmeller/nebula/src/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp:68)

Launching via the hesai_launch_all_hw.xml file worked with the same parameters.

Investigating via ros2 topic param dump, the correction_file and scan_phase parameters were the only different ones:

<<<<<<
# Launched with nebula_launch.py
correction_file: /home/maxschmeller/nebula/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.csv
scan_phase: 30.0
------
# Launched with hesai_launch_all_hw.xml
correction_file: /home/maxschmeller/nebula/install/nebula_decoders/share/nebula_decoders/calibration/hesai/PandarAT128.dat
scan_phase: 0.0
>>>>>>

The .csv param for the correction file is clearly wrong, so this PR fixes it. This also fixes the missing pointcloud output and the console warnings above.

Review Procedure

Delete all correction files that nebula downloaded from the sensor, then launch nebula with the Python launch file and replay AT128 scan messages from a rosbag.

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[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 5.85%. Comparing base (5e587ba) to head (757cc3a).

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Additional details and impacted files

@@           Coverage Diff            @@
##            main    #128      +/-   ##
========================================
- Coverage   7.03%   5.85%   -1.18%     
========================================
  Files        136      28     -108     
  Lines      10211    4130    -6081     
  Branches     869     471     -398     
========================================
- Hits         718     242     -476     
+ Misses      8907    3468    -5439     
+ Partials     586     420     -166     

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[drwnz]

LGTM!