feat: support innovusion for nebula

README.md

@@ -61,6 +61,7 @@ You can easily run the sensor hardware interface, the sensor hardware monitor an
 
 ```bash
 ros2 launch nebula_ros nebula_launch.py sensor_model:=Pandar64
+ros2 launch nebula_ros nebula_launch.py sensor_model:=Falcon sensor_ip:=172.168.1.10
 ```
 
 If you don't want to launch the hardware (i.e. when you are working from a rosbag), set the `launch_hw` flag to false:
@@ -99,6 +100,8 @@ Supported models, where sensor_model is the ROS param to be used at launch:
 | Velodyne     | VLP-16-HiRes  | VLP16        |                    | :x: |
 | Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning: |
 | Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning: |
+| Innovusion   | Falcon        | Falcon       | Falcon.yaml        | :warning: |
+| Innovusion   | Robin         | Robin        | Robin.yaml         | :warning: |
 
 Test status:\
 :heavy_check_mark:: complete\
@@ -222,6 +225,42 @@ Parameters shared by all supported models:
 | cloud_min_angle  | uint16 | 0        | degrees [0, 360]     | FoV start angle                         |
 | cloud_max_angle  | uint16 | 359      | degrees [0, 360]     | FoV end angle                           |
 
+### Innovusion specific parameters
+
+#### Supported return modes
+
+| return_mode     | Mode               |
+| --------------- | ------------------ |
+| SingleFirst     | Single (First)     |
+| SingleStrongest | Single (Strongest) |
+| SingleLast      | Single (Last)      |
+| Dual            | Dual               |
+
+#### Hardware interface parameters
+
+| Parameter       | Type   | Default         | Accepted values   | Description     |
+| --------------- | ------ | --------------- | ----------------- | --------------- |
+| frame_id        | string | innovusion      |                   | ROS frame ID    |
+| sensor_ip       | string | 172.168.1.11    |                   | Sensor IP       |
+| host_ip         | string | 255.255.255.255 |                   | Host IP         |
+| data_port       | uint16 | 8010            |                   | Sensor port     |
+| gnss_port       | uint16 | 8010            |                   | GNSS port       |
+| frequency_ms    | uint16 | 100             | milliseconds, > 0 | Time per scan   |
+| packet_mtu_size | uint16 | 8820            |                   | Packet MTU size |
+| cloud_min_angle | uint16 | 0               | degrees [0, 120]  | FoV start angle |
+| cloud_max_angle | uint16 | 120             | degrees [0, 120]  | FoV end angle   |
+
+#### Driver parameters
+
+| Parameter        | Type   | Default    | Accepted values      | Description                           |
+| ---------------- | ------ | --------   | -------------------- | ------------------------------------- |
+| frame_id         | string | innovusion |                      | ROS frame ID                          |
+| calibration_file | string |            |                      | LiDAR calibration file                |
+| min_range        | double | 0.3        | meters, >= 0.3       | Minimum point range published         |
+| max_range        | double | 500.0      | meters, <= 500.0     | Maximum point range published         |
+| cloud_min_angle  | uint16 | 0          | degrees [0, 120]     | FoV start angle                       |
+| cloud_max_angle  | uint16 | 120        | degrees [0, 120]     | FoV end angle
+
 ## Software design overview
 
 ![DriverOrganization](docs/diagram.png)

nebula_common/include/nebula_common/innovusion/innovusion_common.hpp

@@ -0,0 +1,59 @@
+#ifndef NEBULA_INNOVUSION_COMMON_H
+#define NEBULA_INNOVUSION_COMMON_H
+
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+
+#include <fstream>
+#include <sstream>
+namespace nebula
+{
+namespace drivers
+{
+/// @brief struct for Innovusion sensor configuration
+struct InnovusionSensorConfiguration : SensorConfigurationBase
+{
+  double cloud_min_range;
+  double cloud_max_range;
+};
+/// @brief Convert InnovusionSensorConfiguration to string (Overloading the << operator)
+/// @param os
+/// @param arg
+/// @return stream
+inline std::ostream & operator<<(std::ostream & os, InnovusionSensorConfiguration const & arg)
+{
+  os << (SensorConfigurationBase)(arg) << ", cloud_min_range: " << arg.cloud_min_range
+     << ", cloud_max_range: " << arg.cloud_max_range << "\n";
+  return os;
+}
+
+/// @brief struct for Innovusion calibration configuration
+struct InnovusionCalibrationConfiguration : CalibrationConfigurationBase
+{
+  // InnovusionCalibration innovusion_calibration;
+  inline nebula::Status LoadFromFile(const std::string &)
+  {
+    return Status::OK;
+  }
+  inline nebula::Status SaveFile(const std::string &)
+  {
+    return Status::OK;
+  }
+};
+
+/// @brief Convert return mode name to ReturnMode enum (Innovusion-specific ReturnModeFromString)
+/// @param return_mode Return mode name (Upper and lower case letters must match)
+/// @return Corresponding ReturnMode
+inline ReturnMode ReturnModeFromStringInnovusion(const std::string & return_mode)
+{
+  if (return_mode == "Strongest") return ReturnMode::SINGLE_STRONGEST;
+  if (return_mode == "Last") return ReturnMode::SINGLE_LAST;
+  if (return_mode == "Dual") return ReturnMode::DUAL_ONLY;
+
+  return ReturnMode::UNKNOWN;
+}
+
+}  // namespace drivers
+}  // namespace nebula
+
+#endif  // NEBULA_INNOVUSION_COMMON_H

nebula_common/include/nebula_common/innovusion/innovusion_status.hpp

@@ -0,0 +1,69 @@
+#ifndef Innovusion_STATUS_HPP
+#define Innovusion_STATUS_HPP
+
+#include "nebula_common/nebula_status.hpp"
+
+#include <ostream>
+#include <string>
+
+namespace nebula
+{
+// from https://marycore.jp/prog/cpp/extends-enum/
+
+/// @brief Status definition for Innovusion
+struct InnovusionStatus : Status
+{
+  using Status::Status;
+
+private:
+  int _type_num;
+
+public:
+  enum InnovusionType {
+    INVALID_RPM_ERROR = Type_end_of_Status + 1,
+    INVALID_FOV_ERROR,
+    INVALID_RETURN_MODE_ERROR,
+    Type_end_of_Status = INVALID_RPM_ERROR
+  } _Innovusion_type;
+  InnovusionStatus() : _type_num(static_cast<int>(Status::OK)) { _type = static_cast<Type>(type()); }
+  InnovusionStatus(Type v) : _type_num(static_cast<int>(v)) { _type = v; }
+  InnovusionStatus(InnovusionType v) : _type_num(static_cast<int>(v)), _Innovusion_type(v)
+  {
+    _type = Type::Type_end_of_Status;
+  }
+  InnovusionStatus(int type) : _type_num(type) {}
+  int type() const { return _type_num; }
+  friend bool operator==(const InnovusionStatus & L, const InnovusionStatus & R)
+  {
+    return L.type() == R.type();
+  }
+  friend bool operator!=(const InnovusionStatus & L, const InnovusionStatus & R)
+  {
+    return L.type() != R.type();
+  }
+
+  /// @brief Convert Status enum to string (Overloading the << operator)
+  /// @param os
+  /// @param arg
+  /// @return stream
+  friend std::ostream & operator<<(std::ostream & os, nebula::InnovusionStatus const & arg)
+  {
+    switch (arg.type()) {
+      // Velodyne
+      case InnovusionStatus::INVALID_RPM_ERROR:
+        os << "Invalid rotation speed value(range from 300 to 1200, in increments of 60)";
+        break;
+      case InnovusionStatus::INVALID_FOV_ERROR:
+        os << "Invalid fov value(0 to 359)";
+        break;
+      case InnovusionStatus::INVALID_RETURN_MODE_ERROR:
+        os << "Invalid return mode(only SINGLE_STRONGEST, SINGLE_LAST, DUAL_ONLY)";
+        break;
+      default:
+        os << Status(arg._type);
+    }
+    return os;
+  }
+};
+}  // namespace nebula
+#endif  // Innovusion_STATUS_HPP

nebula_common/include/nebula_common/nebula_common.hpp

@@ -323,6 +323,8 @@ enum class SensorModel {
   VELODYNE_VLP32MR,
   VELODYNE_HDL32,
   VELODYNE_VLP16,
+  INNOVUSION_FALCON,
+  INNOVUSION_ROBIN
 };
 
 /// @brief not used?
@@ -401,6 +403,12 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel
     case SensorModel::VELODYNE_VLP16:
       os << "VLP16";
       break;
+    case SensorModel::INNOVUSION_FALCON:
+      os << "Falcon";
+      break;
+    case SensorModel::INNOVUSION_ROBIN:
+      os << "Robin";
+      break;
     case SensorModel::UNKNOWN:
       os << "Sensor Unknown";
       break;
@@ -468,6 +476,9 @@ inline SensorModel SensorModelFromString(const std::string & sensor_model)
   if (sensor_model == "VLP32MR") return SensorModel::VELODYNE_VLP32MR;
   if (sensor_model == "HDL32") return SensorModel::VELODYNE_HDL32;
   if (sensor_model == "VLP16") return SensorModel::VELODYNE_VLP16;
+  // innovusion
+  if (sensor_model == "Falcon") return SensorModel::INNOVUSION_FALCON;
+  if (sensor_model == "Robin") return SensorModel::INNOVUSION_ROBIN;
   return SensorModel::UNKNOWN;
 }
 

nebula_decoders/CMakeLists.txt

@@ -40,6 +40,12 @@ ament_auto_add_library(nebula_decoders_velodyne SHARED
         src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
         )
 
+# Innovusion
+ament_auto_add_library(nebula_decoders_innovusion SHARED
+        src/nebula_decoders_innovusion/decoders/innovusion_decoder.cpp
+        src/nebula_decoders_innovusion/innovusion_driver.cpp
+        )
+
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()

nebula_decoders/calibration/innovusion/Falcon.yaml

@@ -0,0 +1,4 @@
+# Our Lidar is calibrated internally, so there is no need to use calibration files here.
+# However, in order to maintain consistency in the Nebula framework, we created an empty calibration file.
+# Please ignore it.
+yaml_version: 2023110701

nebula_decoders/calibration/innovusion/Robin.yaml

@@ -0,0 +1,4 @@
+# Our Lidar is calibrated internally, so there is no need to use calibration files here.
+# However, in order to maintain consistency in the Nebula framework, we created an empty calibration file.
+# Please ignore it.
+yaml_version: 2023110701