feat(ars548): disable object output for corner radars

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;
 

nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp

@@ -204,6 +204,25 @@
   status.name = config_ptr_->frame_id;
   status.message = "Diagnostic messages from ARS548";
 
+  // 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(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. The "
+      "driver will not output any objects");
+
+    status.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    status.message +=
+      ". 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) {
     diagnostic_msgs::msg::KeyValue key_value;
     key_value.key = key;

nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp

@@ -215,6 +215,17 @@
     pitch = rpy.y;
   }
 
+  // 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(yaw) > 5.0 * M_PI / 180.0 && std::abs(yaw) < 90.0 * M_PI / 180.0) {
+    RCLCPP_WARN(
+      logger_,
+      "You are attempting to configure the device as a corner radar, which is not supported so "
+      "far.");
+  }
+
   auto result = hw_interface_->set_sensor_mounting(
     longitudinal, lateral, vertical, yaw, pitch, request->plug_orientation);