From 00aa6980d75b80dcfb5dd0d9d5c16ca99d531f79 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 10 Mar 2026 08:36:46 +0900 Subject: [PATCH 01/24] ci: add GitHub Actions workflow for linting Autoware system design format - Introduced a new workflow to lint system design format files on pull requests and pushes to the main branch. - Updated pre-commit configuration to include a new hook for linting with autoware_system_designer. Signed-off-by: Taekjin LEE --- .../lint-autoware-system-design-format.yml | 30 +++++++++++++++++++ .pre-commit-config.yaml | 6 ++++ 2 files changed, 36 insertions(+) create mode 100644 .github/workflows/lint-autoware-system-design-format.yml diff --git a/.github/workflows/lint-autoware-system-design-format.yml b/.github/workflows/lint-autoware-system-design-format.yml new file mode 100644 index 000000000..5a272ce02 --- /dev/null +++ b/.github/workflows/lint-autoware-system-design-format.yml @@ -0,0 +1,30 @@ +name: Lint Autoware System Design Format + +on: + pull_request: + paths: + - "**/*.node.yaml" + - "**/*.module.yaml" + - "**/*.system.yaml" + - "**/*.parameter_set.yaml" + push: + branches: + - main + paths: + - "**/*.node.yaml" + - "**/*.module.yaml" + - "**/*.system.yaml" + - "**/*.parameter_set.yaml" + +jobs: + lint: + runs-on: ubuntu-latest + + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Lint system design format files + uses: autowarefoundation/autoware_system_designer@v0.3.0 + with: + design_files_path: . diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a8bc283de..4076bc2e3 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -94,4 +94,10 @@ repos: args: [--quiet, '--filter=-runtime/arrays,-build/c++17,-readability/casting'] exclude: .cu + - repo: https://github.com/autowarefoundation/autoware_system_designer + rev: v0.3.0 + hooks: + - id: lint-system-design-format + args: [--format=github-actions] + exclude: .svg From 5759ceccc9346a11a009df5cd33c8bdd76090be4 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 19 Jan 2026 13:35:23 +0900 Subject: [PATCH 02/24] feat: add NebulaArs548 and NebulaHesaiPandar128E4X node configurations - Introduced NebulaArs548_decode.node.yaml and NebulaHesaiPandar128E4X_decode.node.yaml for decoding processes. - Updated NebulaArs548.node.yaml and NebulaHesaiPandar128E4X.node.yaml with new input/output configurations and parameters. - Removed obsolete inputs and outputs in the decode configurations to streamline processing. Signed-off-by: Taekjin LEE --- .../design/NebulaArs548.node.yaml | 135 ++++++++++++ .../design/NebulaArs548_decode.node.yaml | 40 ++++ .../design/NebulaHesaiPandar128E4X.node.yaml | 197 ++++++++++++++++++ .../NebulaHesaiPandar128E4X_decode.node.yaml | 27 +++ 4 files changed, 399 insertions(+) create mode 100644 src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml create mode 100644 src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml create mode 100644 src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml create mode 100644 src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml new file mode 100644 index 000000000..7dcce4507 --- /dev/null +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -0,0 +1,135 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaArs548.node + +launch: + package: nebula_ros + plugin: nebula::ros::ContinentalARS548RosWrapper + executable: continental_ars548_ros_wrapper_node + node_output: screen + use_container: false + +# interfaces +inputs: + - name: odometry_input + message_type: geometry_msgs/msg/TwistWithCovarianceStamped + remap_target: "odometry_input" + - name: acceleration_input + message_type: geometry_msgs/msg/AccelWithCovarianceStamped + remap_target: "acceleration_input" + - name: steering_angle_input + message_type: std_msgs/msg/Float32 + remap_target: "steering_angle_input" +outputs: + - name: nebula_packets + message_type: nebula_msgs/msg/NebulaPackets + remap_target: "nebula_packets" + - name: continental_detections + message_type: continental_msgs/msg/ContinentalArs548DetectionList + remap_target: "continental_detections" + - name: continental_objects + message_type: continental_msgs/msg/ContinentalArs548ObjectList + remap_target: "continental_objects" + - name: detection_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "detection_points" + - name: object_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "object_points" + - name: scan_raw + message_type: radar_msgs/msg/RadarScan + remap_target: "scan_raw" + - name: objects_raw + message_type: radar_msgs/msg/RadarTracks + remap_target: "objects_raw" + - name: marker_array + message_type: visualization_msgs/msg/MarkerArray + remap_target: "marker_array" + - name: radar_objects + message_type: autoware_sensing_msgs/msg/RadarObjects + remap_target: "radar_objects" + - name: radar_info + message_type: autoware_sensing_msgs/msg/RadarInfo + remap_target: "radar_info" + +# parameters +parameter_files: + - name: config_file + default: config/radar/continental/ARS548.param.yaml + schema: schema/ARS548.schema.json + allow_substs: true + +parameters: + - name: launch_hw + type: bool + default: true + - name: host_ip + type: string + default: 10.13.1.166 + - name: sensor_ip + type: string + default: 10.13.1.113 + - name: data_port + type: int + default: 42102 + - name: frame_id + type: string + default: radar + - name: base_frame + type: string + default: base_link + - name: object_frame + type: string + default: base_link + - name: multicast_ip + type: string + default: 224.0.2.2 + - name: sensor_model + type: string + default: ARS548 + - name: configuration_host_port + type: int + default: 42401 + - name: configuration_sensor_port + type: int + default: 42101 + - name: use_sensor_time + type: bool + default: false + - name: radar_info_rate_subsample + type: int + default: 10 + - name: configuration_vehicle_length + type: double + default: 4.89 + - name: configuration_vehicle_width + type: double + default: 1.896 + - name: configuration_vehicle_height + type: double + default: 2.5 + - name: configuration_vehicle_wheelbase + type: double + default: 2.79 + +# processes +processes: + - name: hw_interface + trigger_conditions: + - periodic: 100 # Hz + outcomes: + - to_output: nebula_packets + - name: decoder + trigger_conditions: + - periodic: 10 # Hz + outcomes: + - to_output: continental_objects + - to_output: continental_detections + - to_output: detection_points + - to_output: object_points + - to_output: radar_objects + - to_output: scan_raw + - to_output: objects_raw + - to_output: marker_array + - to_output: diagnostics + - to_output: radar_info diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml new file mode 100644 index 000000000..f50a3cd1c --- /dev/null +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -0,0 +1,40 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaArs548_decode.node + +inheritance: NebulaArs548.node + +override: + inputs: + - name: nebula_packets + message_type: nebula_msgs/msg/NebulaPackets + remap_target: "nebula_packets" + processes: + - name: decoder + trigger_conditions: + - from_input: nebula_packets + outcomes: + - to_output: continental_objects + - to_output: continental_detections + - to_output: detection_points + - to_output: object_points + - to_output: radar_objects + - to_output: scan_raw + - to_output: objects_raw + - to_output: marker_array + - to_output: diagnostics + - to_output: radar_info + parameters: + - name: launch_hw + type: bool + default: false + +remove: + inputs: + - name: odometry_input + - name: acceleration_input + - name: steering_angle_input + outputs: + - name: nebula_packets + processes: + - name: hw_interface \ No newline at end of file diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml new file mode 100644 index 000000000..c01f99fb5 --- /dev/null +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -0,0 +1,197 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaHesaiPandar128E4X.node + +launch: + package: nebula_ros + plugin: HesaiRosWrapper + executable: hesai_ros_wrapper_node + node_output: screen + use_container: true + container_name: pointcloud_container + +# interfaces +inputs: [] + +outputs: + - name: pandar_packets + message_type: pandar_msgs/msg/PandarScan + remap_target: "pandar_packets" + qos: + depth: 10 + reliability: best_effort + - name: pandar_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "pandar_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points_ex + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points_ex" + qos: + depth: 10 + reliability: best_effort + - name: blockage_mask + message_type: sensor_msgs/msg/Image + remap_target: "blockage_mask" + +# parameters +parameter_files: + - name: config_file + default: config/lidar/hesai/Pandar128E4X.param.yaml + schema: schema/Pandar128E4X.schema.json + allow_substs: true + +parameters: + - name: launch_hw + type: bool + default: true + - name: sensor_model + type: string + default: Pandar128E4X + - name: host_ip + type: string + default: 192.168.1.10 + - name: sensor_ip + type: string + default: 192.168.1.201 + - name: multicast_ip + type: string + default: "" + - name: data_port + type: int + default: 2368 + - name: gnss_port + type: int + default: 10110 + - name: udp_socket_receive_buffer_size_bytes + type: int + default: 5400000 + - name: packet_mtu_size + type: int + default: 1500 + - name: setup_sensor + type: bool + default: true + - name: udp_only + type: bool + default: false + - name: frame_id + type: string + default: hesai + - name: diag_span + type: int + default: 1000 + - name: min_range + type: double + default: 0.3 + - name: max_range + type: double + default: 300.0 + - name: cloud_min_angle + type: int + default: 0 + - name: cloud_max_angle + type: int + default: 360 + - name: sync_angle + type: int + default: 0 + - name: cut_angle + type: double + default: 0.0 + - name: calibration_file + type: string + default: "" + - name: calibration_download_enabled + type: bool + default: true + - name: rotation_speed + type: int + default: 600 + - name: return_mode + type: string + default: Dual + - name: ptp_profile + type: string + default: automotive + - name: ptp_domain + type: int + default: 0 + - name: ptp_transport_type + type: string + default: L2 + - name: ptp_switch_type + type: string + default: TSN + - name: ptp_lock_threshold + type: int + default: 100 + - name: retry_hw + type: bool + default: true + - name: dual_return_distance_threshold + type: double + default: 0.1 + - name: hires_mode + type: bool + default: true + - name: blockage_range + type: string + default: "[0.0, 0.0]" + - name: horizontal_ring_id + type: int + default: 40 + - name: is_channel_order_top2down + type: bool + default: true + - name: point_filters.downsample_mask.path + type: string + default: "" + - name: min_azimuth_deg + type: double + default: 135.0 + - name: max_azimuth_deg + type: double + default: 225.0 + - name: polar_voxel_visibility_estimation_mode + type: string + default: disable + - name: vertical_bins + type: int + default: 128 + - name: horizontal_resolution + type: double + default: 0.4 + - name: enable_blockage_diag + type: bool + default: true + - name: blockage_diagnostics_param_file + type: string + default: config/blockage_diagnostics_param_file.yaml + - name: use_dual_return_filter + type: bool + default: false + - name: diagnostics.packet_loss.error_threshold + type: int + default: 20 + +# processes +processes: + - name: hw_interface + trigger_conditions: + - periodic: 100 # Hz + outcomes: + - to_output: pandar_packets + - name: decoder + trigger_conditions: + - periodic: 10 # Hz + outcomes: + - to_output: pandar_points diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml new file mode 100644 index 000000000..b681ed4bc --- /dev/null +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -0,0 +1,27 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaHesaiPandar128E4X_decode.node + +inheritance: NebulaHesaiPandar128E4X.node + +override: + inputs: + - name: pandar_packets + message_type: pandar_msgs/msg/PandarScan + remap_target: "pandar_packets" + processes: + - name: decoder + trigger_conditions: + - from_input: pandar_packets + outcomes: + - to_output: pandar_points + parameters: + - name: launch_hw + type: bool + default: false + +remove: + outputs: + - name: pandar_packets + processes: + - name: hw_interface \ No newline at end of file From a2d4bdda199cd8cadc971a6c04fc976d7859dfde Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 19 Jan 2026 14:36:42 +0900 Subject: [PATCH 03/24] feat: update NebulaHesaiPandar128E4X and add NebulaVelodyneVLS128 node configurations - Changed launch package for NebulaHesaiPandar128E4X from nebula_ros to nebula_hesai. - Updated parameter file path for NebulaHesaiPandar128E4X. - Introduced new configurations for NebulaVelodyneVLS128, including inputs, outputs, and parameters for the Velodyne sensor. - Added a decoding process for NebulaVelodyneVLS128 with appropriate trigger conditions and outcomes. Signed-off-by: Taekjin LEE --- .../design/NebulaHesaiPandar128E4X.node.yaml | 4 +- .../design/NebulaVelodyneVLS128.node.yaml | 197 ++++++++++++++++++ .../NebulaVelodyneVLS128_decode.node.yaml | 27 +++ 3 files changed, 226 insertions(+), 2 deletions(-) create mode 100644 src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml create mode 100644 src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index c01f99fb5..8a914b526 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -3,7 +3,7 @@ autoware_system_design_format: v0.1.0 name: NebulaHesaiPandar128E4X.node launch: - package: nebula_ros + package: nebula_hesai plugin: HesaiRosWrapper executable: hesai_ros_wrapper_node node_output: screen @@ -45,7 +45,7 @@ outputs: # parameters parameter_files: - name: config_file - default: config/lidar/hesai/Pandar128E4X.param.yaml + default: config/Pandar128E4X.param.yaml schema: schema/Pandar128E4X.schema.json allow_substs: true diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml new file mode 100644 index 000000000..876485740 --- /dev/null +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -0,0 +1,197 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaVelodyneVLS128.node + +launch: + package: nebula_velodyne + plugin: VelodyneRosWrapper + executable: velodyne_ros_wrapper_node + node_output: screen + use_container: true + container_name: pointcloud_container + +# interfaces +inputs: [] + +outputs: + - name: velodyne_packets + message_type: velodyne_msgs/msg/VelodyneScan + remap_target: "velodyne_packets" + qos: + depth: 10 + reliability: best_effort + - name: velodyne_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "velodyne_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points_ex + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points_ex" + qos: + depth: 10 + reliability: best_effort + - name: blockage_mask + message_type: sensor_msgs/msg/Image + remap_target: "blockage_mask" + +# parameters +parameter_files: + - name: config_file + default: config/VLS128.param.yaml + schema: schema/VLS128.schema.json + allow_substs: true + +parameters: + - name: launch_hw + type: bool + default: true + - name: sensor_model + type: string + default: VLS128 + - name: host_ip + type: string + default: 192.168.1.10 + - name: sensor_ip + type: string + default: 192.168.1.201 + - name: multicast_ip + type: string + default: "" + - name: data_port + type: int + default: 2368 + - name: gnss_port + type: int + default: 10110 + - name: udp_socket_receive_buffer_size_bytes + type: int + default: 5400000 + - name: packet_mtu_size + type: int + default: 1500 + - name: setup_sensor + type: bool + default: true + - name: udp_only + type: bool + default: false + - name: frame_id + type: string + default: velodyne + - name: diag_span + type: int + default: 1000 + - name: min_range + type: double + default: 0.3 + - name: max_range + type: double + default: 300.0 + - name: cloud_min_angle + type: int + default: 0 + - name: cloud_max_angle + type: int + default: 360 + - name: sync_angle + type: int + default: 0 + - name: cut_angle + type: double + default: 0.0 + - name: calibration_file + type: string + default: "" + - name: calibration_download_enabled + type: bool + default: true + - name: rotation_speed + type: int + default: 600 + - name: return_mode + type: string + default: Dual + - name: ptp_profile + type: string + default: automotive + - name: ptp_domain + type: int + default: 0 + - name: ptp_transport_type + type: string + default: L2 + - name: ptp_switch_type + type: string + default: TSN + - name: ptp_lock_threshold + type: int + default: 100 + - name: retry_hw + type: bool + default: true + - name: dual_return_distance_threshold + type: double + default: 0.1 + - name: hires_mode + type: bool + default: true + - name: blockage_range + type: string + default: "[0.0, 0.0]" + - name: horizontal_ring_id + type: int + default: 40 + - name: is_channel_order_top2down + type: bool + default: true + - name: point_filters.downsample_mask.path + type: string + default: "" + - name: min_azimuth_deg + type: double + default: 135.0 + - name: max_azimuth_deg + type: double + default: 225.0 + - name: polar_voxel_visibility_estimation_mode + type: string + default: disable + - name: vertical_bins + type: int + default: 128 + - name: horizontal_resolution + type: double + default: 0.4 + - name: enable_blockage_diag + type: bool + default: true + - name: blockage_diagnostics_param_file + type: string + default: config/blockage_diagnostics_param_file.yaml + - name: use_dual_return_filter + type: bool + default: false + - name: diagnostics.packet_loss.error_threshold + type: int + default: 20 + +# processes +processes: + - name: hw_interface + trigger_conditions: + - periodic: 100 # Hz + outcomes: + - to_output: velodyne_packets + - name: decoder + trigger_conditions: + - periodic: 10 # Hz + outcomes: + - to_output: velodyne_points diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml new file mode 100644 index 000000000..0ed28140c --- /dev/null +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -0,0 +1,27 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaVelodyneVLS128_decode.node + +inheritance: NebulaVelodyneVLS128.node + +override: + inputs: + - name: velodyne_packets + message_type: pandar_msgs/msg/PandarScan + remap_target: "velodyne_packets" + processes: + - name: decoder + trigger_conditions: + - from_input: velodyne_packets + outcomes: + - to_output: velodyne_points + parameters: + - name: launch_hw + type: bool + default: false + +remove: + outputs: + - name: velodyne_packets + processes: + - name: hw_interface \ No newline at end of file From f866cf0bbbe96117fbae146f9a20a358e4f8353a Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 19 Jan 2026 16:58:43 +0900 Subject: [PATCH 04/24] feat: add NebulaVelodyneVLP16 node configuration and decoder - Introduced NebulaVelodyneVLP16.node.yaml with detailed input/output configurations and parameters for the Velodyne sensor. - Added a new NebulaVelodyneVLP16_decode.node.yaml for decoding processes, specifying inputs, outputs, and parameters. - Streamlined the configuration by removing obsolete outputs and processes in the decoder setup. Signed-off-by: Taekjin LEE --- .../design/NebulaVelodyneVLP16.node.yaml | 197 ++++++++++++++++++ .../NebulaVelodyneVLP16_decode.node.yaml | 27 +++ 2 files changed, 224 insertions(+) create mode 100644 src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml create mode 100644 src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml new file mode 100644 index 000000000..035ec275b --- /dev/null +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -0,0 +1,197 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaVelodyneVLP16.node + +launch: + package: nebula_velodyne + plugin: VelodyneRosWrapper + executable: velodyne_ros_wrapper_node + node_output: screen + use_container: true + container_name: pointcloud_container + +# interfaces +inputs: [] + +outputs: + - name: velodyne_packets + message_type: velodyne_msgs/msg/VelodyneScan + remap_target: "velodyne_packets" + qos: + depth: 10 + reliability: best_effort + - name: velodyne_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "velodyne_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points" + qos: + depth: 10 + reliability: best_effort + - name: aw_points_ex + message_type: sensor_msgs/msg/PointCloud2 + remap_target: "aw_points_ex" + qos: + depth: 10 + reliability: best_effort + - name: blockage_mask + message_type: sensor_msgs/msg/Image + remap_target: "blockage_mask" + +# parameters +parameter_files: + - name: config_file + default: config/VLP16.param.yaml + schema: schema/VLP16.schema.json + allow_substs: true + +parameters: + - name: launch_hw + type: bool + default: true + - name: sensor_model + type: string + default: VLP16 + - name: host_ip + type: string + default: 192.168.1.10 + - name: sensor_ip + type: string + default: 192.168.1.201 + - name: multicast_ip + type: string + default: "" + - name: data_port + type: int + default: 2368 + - name: gnss_port + type: int + default: 10110 + - name: udp_socket_receive_buffer_size_bytes + type: int + default: 5400000 + - name: packet_mtu_size + type: int + default: 1500 + - name: setup_sensor + type: bool + default: true + - name: udp_only + type: bool + default: false + - name: frame_id + type: string + default: velodyne + - name: diag_span + type: int + default: 1000 + - name: min_range + type: double + default: 0.3 + - name: max_range + type: double + default: 300.0 + - name: cloud_min_angle + type: int + default: 0 + - name: cloud_max_angle + type: int + default: 360 + - name: sync_angle + type: int + default: 0 + - name: cut_angle + type: double + default: 0.0 + - name: calibration_file + type: string + default: "" + - name: calibration_download_enabled + type: bool + default: true + - name: rotation_speed + type: int + default: 600 + - name: return_mode + type: string + default: Dual + - name: ptp_profile + type: string + default: automotive + - name: ptp_domain + type: int + default: 0 + - name: ptp_transport_type + type: string + default: L2 + - name: ptp_switch_type + type: string + default: TSN + - name: ptp_lock_threshold + type: int + default: 100 + - name: retry_hw + type: bool + default: true + - name: dual_return_distance_threshold + type: double + default: 0.1 + - name: hires_mode + type: bool + default: true + - name: blockage_range + type: string + default: "[0.0, 0.0]" + - name: horizontal_ring_id + type: int + default: 40 + - name: is_channel_order_top2down + type: bool + default: true + - name: point_filters.downsample_mask.path + type: string + default: "" + - name: min_azimuth_deg + type: double + default: 135.0 + - name: max_azimuth_deg + type: double + default: 225.0 + - name: polar_voxel_visibility_estimation_mode + type: string + default: disable + - name: vertical_bins + type: int + default: 128 + - name: horizontal_resolution + type: double + default: 0.4 + - name: enable_blockage_diag + type: bool + default: true + - name: blockage_diagnostics_param_file + type: string + default: config/blockage_diagnostics_param_file.yaml + - name: use_dual_return_filter + type: bool + default: false + - name: diagnostics.packet_loss.error_threshold + type: int + default: 20 + +# processes +processes: + - name: hw_interface + trigger_conditions: + - periodic: 100 # Hz + outcomes: + - to_output: velodyne_packets + - name: decoder + trigger_conditions: + - periodic: 10 # Hz + outcomes: + - to_output: velodyne_points diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml new file mode 100644 index 000000000..e58eb417b --- /dev/null +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -0,0 +1,27 @@ +autoware_system_design_format: v0.1.0 + +name: NebulaVelodyneVLP16_decode.node + +inheritance: NebulaVelodyneVLP16.node + +override: + inputs: + - name: velodyne_packets + message_type: pandar_msgs/msg/PandarScan + remap_target: "velodyne_packets" + processes: + - name: decoder + trigger_conditions: + - from_input: velodyne_packets + outcomes: + - to_output: velodyne_points + parameters: + - name: launch_hw + type: bool + default: false + +remove: + outputs: + - name: velodyne_packets + processes: + - name: hw_interface \ No newline at end of file From e9f4b4557116fbd2dd9feb00636c8927f02da22c Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 19 Jan 2026 17:08:18 +0900 Subject: [PATCH 05/24] fix: update launch package for NebulaArs548 node configuration - Changed launch package from nebula_ros to nebula_continental in NebulaArs548.node.yaml to reflect the correct package structure. Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index 7dcce4507..983b75119 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -3,7 +3,7 @@ autoware_system_design_format: v0.1.0 name: NebulaArs548.node launch: - package: nebula_ros + package: nebula_continental plugin: nebula::ros::ContinentalARS548RosWrapper executable: continental_ars548_ros_wrapper_node node_output: screen From e993dc4327e62340639bb955018327d6a928dea7 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 21 Jan 2026 11:24:17 +0900 Subject: [PATCH 06/24] fix: update message type for VelodyneScan in NebulaVelodyneVLS128 decode configuration - Changed the message type from pandar_msgs/msg/PandarScan to velodyne_msgs/msg/VelodyneScan in NebulaVelodyneVLS128_decode.node.yaml to ensure compatibility with the Velodyne sensor data. Signed-off-by: Taekjin LEE --- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index 0ed28140c..99b8cd255 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -7,7 +7,7 @@ inheritance: NebulaVelodyneVLS128.node override: inputs: - name: velodyne_packets - message_type: pandar_msgs/msg/PandarScan + message_type: velodyne_msgs/msg/VelodyneScan remap_target: "velodyne_packets" processes: - name: decoder From 550db8cc94af503fd7688ef872686231890e5d51 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 21 Jan 2026 14:54:23 +0900 Subject: [PATCH 07/24] fix: update calibration file path for NebulaVelodyneVLS128 configuration - Changed the default value of the calibration_file parameter in NebulaVelodyneVLS128.node.yaml to point to the correct calibration file location: $(find-pkg-share nebula_velodyne_decoders)/calibration/VLS128.yaml. Signed-off-by: Taekjin LEE --- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 876485740..ffb448626 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -109,7 +109,7 @@ parameters: default: 0.0 - name: calibration_file type: string - default: "" + default: $(find-pkg-share nebula_velodyne_decoders)/calibration/VLS128.yaml - name: calibration_download_enabled type: bool default: true From 2928694602afbb73a9ea2709c379662fd5bac409 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 22 Jan 2026 14:29:48 +0900 Subject: [PATCH 08/24] refactor: update inheritance to base in node configurations - Changed 'inheritance' to 'base' in NebulaArs548_decode.node.yaml, NebulaHesaiPandar128E4X_decode.node.yaml, NebulaVelodyneVLP16_decode.node.yaml, and NebulaVelodyneVLS128_decode.node.yaml to align with the updated configuration structure. Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548_decode.node.yaml | 2 +- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index f50a3cd1c..30ca947d9 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -2,7 +2,7 @@ autoware_system_design_format: v0.1.0 name: NebulaArs548_decode.node -inheritance: NebulaArs548.node +base: NebulaArs548.node override: inputs: diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index b681ed4bc..5a2b5737a 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -2,7 +2,7 @@ autoware_system_design_format: v0.1.0 name: NebulaHesaiPandar128E4X_decode.node -inheritance: NebulaHesaiPandar128E4X.node +base: NebulaHesaiPandar128E4X.node override: inputs: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index e58eb417b..6864082e0 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -2,7 +2,7 @@ autoware_system_design_format: v0.1.0 name: NebulaVelodyneVLP16_decode.node -inheritance: NebulaVelodyneVLP16.node +base: NebulaVelodyneVLP16.node override: inputs: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index 99b8cd255..9689e7469 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -2,7 +2,7 @@ autoware_system_design_format: v0.1.0 name: NebulaVelodyneVLS128_decode.node -inheritance: NebulaVelodyneVLS128.node +base: NebulaVelodyneVLS128.node override: inputs: From 7587750b4598ddf6bb1518fbbf9a193b84e11919 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 22 Jan 2026 17:06:02 +0900 Subject: [PATCH 09/24] fix: update message type for VelodyneScan in NebulaVelodyneVLP16 decode configuration - Changed the message type from pandar_msgs/msg/PandarScan to velodyne_msgs/msg/VelodyneScan in NebulaVelodyneVLP16_decode.node.yaml to ensure compatibility with the Velodyne sensor data. Signed-off-by: Taekjin LEE --- .../nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index 6864082e0..f6922b059 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -7,7 +7,7 @@ base: NebulaVelodyneVLP16.node override: inputs: - name: velodyne_packets - message_type: pandar_msgs/msg/PandarScan + message_type: velodyne_msgs/msg/VelodyneScan remap_target: "velodyne_packets" processes: - name: decoder From 3c1b09c80cff4abefac27d05929943987d8c5b9a Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 9 Feb 2026 15:12:50 +0900 Subject: [PATCH 10/24] chore: update node configurations for NebulaArs548 and NebulaHesaiPandar128E4X - Bumped autoware_system_design_format from v0.1.0 to v0.2.0 in both NebulaArs548.node.yaml and NebulaHesaiPandar128E4X.node.yaml. - Added package information including name and provider for both nodes to enhance clarity and structure. - Adjusted launch package references to align with the updated package structure. Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 7 +++++-- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 7 +++++-- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 7 +++++-- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 7 +++++-- 4 files changed, 20 insertions(+), 8 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index 983b75119..3629344ce 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -1,9 +1,12 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: v0.2.0 name: NebulaArs548.node +package: + name: nebula_continental + provider: nebula + launch: - package: nebula_continental plugin: nebula::ros::ContinentalARS548RosWrapper executable: continental_ars548_ros_wrapper_node node_output: screen diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 8a914b526..df911b9d3 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -1,9 +1,12 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: v0.2.0 name: NebulaHesaiPandar128E4X.node +package: + name: nebula_hesai + provider: nebula + launch: - package: nebula_hesai plugin: HesaiRosWrapper executable: hesai_ros_wrapper_node node_output: screen diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 035ec275b..378eb72ee 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -1,9 +1,12 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: v0.2.0 name: NebulaVelodyneVLP16.node +package: + name: nebula_velodyne + provider: nebula + launch: - package: nebula_velodyne plugin: VelodyneRosWrapper executable: velodyne_ros_wrapper_node node_output: screen diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index ffb448626..be40fdd37 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -1,9 +1,12 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: v0.2.0 name: NebulaVelodyneVLS128.node +package: + name: nebula_velodyne + provider: nebula + launch: - package: nebula_velodyne plugin: VelodyneRosWrapper executable: velodyne_ros_wrapper_node node_output: screen From 38c3c98cff82de9cd663f66462594886494aa3a0 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 12 Feb 2026 04:25:33 +0000 Subject: [PATCH 11/24] ci(pre-commit): autofix Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 10 +++++----- .../design/NebulaArs548_decode.node.yaml | 2 +- .../design/NebulaHesaiPandar128E4X.node.yaml | 6 +++--- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 2 +- .../design/NebulaVelodyneVLP16.node.yaml | 6 +++--- .../design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- .../design/NebulaVelodyneVLS128.node.yaml | 6 +++--- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 8 files changed, 18 insertions(+), 18 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index 3629344ce..c0e18c34b 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -13,7 +13,7 @@ launch: use_container: false # interfaces -inputs: +inputs: - name: odometry_input message_type: geometry_msgs/msg/TwistWithCovarianceStamped remap_target: "odometry_input" @@ -56,13 +56,13 @@ outputs: remap_target: "radar_info" # parameters -parameter_files: +parameter_files: - name: config_file default: config/radar/continental/ARS548.param.yaml schema: schema/ARS548.schema.json allow_substs: true - -parameters: + +parameters: - name: launch_hw type: bool default: true @@ -113,7 +113,7 @@ parameters: default: 2.5 - name: configuration_vehicle_wheelbase type: double - default: 2.79 + default: 2.79 # processes processes: diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 30ca947d9..58d731ec4 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -37,4 +37,4 @@ remove: outputs: - name: nebula_packets processes: - - name: hw_interface \ No newline at end of file + - name: hw_interface diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index df911b9d3..4dc80d44a 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -46,13 +46,13 @@ outputs: remap_target: "blockage_mask" # parameters -parameter_files: +parameter_files: - name: config_file default: config/Pandar128E4X.param.yaml schema: schema/Pandar128E4X.schema.json allow_substs: true - -parameters: + +parameters: - name: launch_hw type: bool default: true diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index 5a2b5737a..d0583b8d1 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -24,4 +24,4 @@ remove: outputs: - name: pandar_packets processes: - - name: hw_interface \ No newline at end of file + - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 378eb72ee..002d92ae7 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -46,13 +46,13 @@ outputs: remap_target: "blockage_mask" # parameters -parameter_files: +parameter_files: - name: config_file default: config/VLP16.param.yaml schema: schema/VLP16.schema.json allow_substs: true - -parameters: + +parameters: - name: launch_hw type: bool default: true diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index f6922b059..f8fded9d2 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -24,4 +24,4 @@ remove: outputs: - name: velodyne_packets processes: - - name: hw_interface \ No newline at end of file + - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index be40fdd37..5c85863d4 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -46,13 +46,13 @@ outputs: remap_target: "blockage_mask" # parameters -parameter_files: +parameter_files: - name: config_file default: config/VLS128.param.yaml schema: schema/VLS128.schema.json allow_substs: true - -parameters: + +parameters: - name: launch_hw type: bool default: true diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index 9689e7469..29e007f13 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -24,4 +24,4 @@ remove: outputs: - name: velodyne_packets processes: - - name: hw_interface \ No newline at end of file + - name: hw_interface From 99c87f7f96def49de1c8417fc4b8970ac7343bbb Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 12 Feb 2026 13:50:05 +0900 Subject: [PATCH 12/24] chore: standardize autoware_system_design_format versioning - Updated autoware_system_design_format from v0.x.x to 0.x.x in multiple node configuration files for consistency across the project. Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 2 +- .../nebula_continental/design/NebulaArs548_decode.node.yaml | 2 +- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 2 +- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 2 +- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index c0e18c34b..a5db37ffc 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.2.0 +autoware_system_design_format: 0.2.0 name: NebulaArs548.node diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 58d731ec4..56a3e2dce 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: 0.1.0 name: NebulaArs548_decode.node diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 4dc80d44a..53aa34164 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.2.0 +autoware_system_design_format: 0.2.0 name: NebulaHesaiPandar128E4X.node diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index d0583b8d1..a3eddec57 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: 0.1.0 name: NebulaHesaiPandar128E4X_decode.node diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 002d92ae7..d998bbbda 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.2.0 +autoware_system_design_format: 0.2.0 name: NebulaVelodyneVLP16.node diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index f8fded9d2..d308e656b 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: 0.1.0 name: NebulaVelodyneVLP16_decode.node diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 5c85863d4..54a4f0958 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.2.0 +autoware_system_design_format: 0.2.0 name: NebulaVelodyneVLS128.node diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index 29e007f13..a322fb167 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: v0.1.0 +autoware_system_design_format: 0.1.0 name: NebulaVelodyneVLS128_decode.node From bd86f9ae3ef7acb4cdfae2336ca10032f64f52bd Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 12 Feb 2026 15:47:48 +0900 Subject: [PATCH 13/24] chore: fix yaml formats Signed-off-by: Taekjin LEE --- .../design/NebulaArs548.node.yaml | 26 +++++----- .../design/NebulaArs548_decode.node.yaml | 50 +++++++++---------- .../design/NebulaHesaiPandar128E4X.node.yaml | 10 ++-- .../NebulaHesaiPandar128E4X_decode.node.yaml | 26 +++++----- .../design/NebulaVelodyneVLP16.node.yaml | 10 ++-- .../NebulaVelodyneVLP16_decode.node.yaml | 26 +++++----- .../design/NebulaVelodyneVLS128.node.yaml | 10 ++-- .../NebulaVelodyneVLS128_decode.node.yaml | 26 +++++----- 8 files changed, 92 insertions(+), 92 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index a5db37ffc..20c529dbb 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -16,44 +16,44 @@ launch: inputs: - name: odometry_input message_type: geometry_msgs/msg/TwistWithCovarianceStamped - remap_target: "odometry_input" + remap_target: odometry_input - name: acceleration_input message_type: geometry_msgs/msg/AccelWithCovarianceStamped - remap_target: "acceleration_input" + remap_target: acceleration_input - name: steering_angle_input message_type: std_msgs/msg/Float32 - remap_target: "steering_angle_input" + remap_target: steering_angle_input outputs: - name: nebula_packets message_type: nebula_msgs/msg/NebulaPackets - remap_target: "nebula_packets" + remap_target: nebula_packets - name: continental_detections message_type: continental_msgs/msg/ContinentalArs548DetectionList - remap_target: "continental_detections" + remap_target: continental_detections - name: continental_objects message_type: continental_msgs/msg/ContinentalArs548ObjectList - remap_target: "continental_objects" + remap_target: continental_objects - name: detection_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "detection_points" + remap_target: detection_points - name: object_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "object_points" + remap_target: object_points - name: scan_raw message_type: radar_msgs/msg/RadarScan - remap_target: "scan_raw" + remap_target: scan_raw - name: objects_raw message_type: radar_msgs/msg/RadarTracks - remap_target: "objects_raw" + remap_target: objects_raw - name: marker_array message_type: visualization_msgs/msg/MarkerArray - remap_target: "marker_array" + remap_target: marker_array - name: radar_objects message_type: autoware_sensing_msgs/msg/RadarObjects - remap_target: "radar_objects" + remap_target: radar_objects - name: radar_info message_type: autoware_sensing_msgs/msg/RadarInfo - remap_target: "radar_info" + remap_target: radar_info # parameters parameter_files: diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 56a3e2dce..6292b729e 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -6,35 +6,35 @@ base: NebulaArs548.node override: inputs: - - name: nebula_packets - message_type: nebula_msgs/msg/NebulaPackets - remap_target: "nebula_packets" + - name: nebula_packets + message_type: nebula_msgs/msg/NebulaPackets + remap_target: nebula_packets processes: - - name: decoder - trigger_conditions: - - from_input: nebula_packets - outcomes: - - to_output: continental_objects - - to_output: continental_detections - - to_output: detection_points - - to_output: object_points - - to_output: radar_objects - - to_output: scan_raw - - to_output: objects_raw - - to_output: marker_array - - to_output: diagnostics - - to_output: radar_info + - name: decoder + trigger_conditions: + - from_input: nebula_packets + outcomes: + - to_output: continental_objects + - to_output: continental_detections + - to_output: detection_points + - to_output: object_points + - to_output: radar_objects + - to_output: scan_raw + - to_output: objects_raw + - to_output: marker_array + - to_output: diagnostics + - to_output: radar_info parameters: - - name: launch_hw - type: bool - default: false + - name: launch_hw + type: bool + default: false remove: inputs: - - name: odometry_input - - name: acceleration_input - - name: steering_angle_input + - name: odometry_input + - name: acceleration_input + - name: steering_angle_input outputs: - - name: nebula_packets + - name: nebula_packets processes: - - name: hw_interface + - name: hw_interface diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 53aa34164..8df868703 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -19,31 +19,31 @@ inputs: [] outputs: - name: pandar_packets message_type: pandar_msgs/msg/PandarScan - remap_target: "pandar_packets" + remap_target: pandar_packets qos: depth: 10 reliability: best_effort - name: pandar_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "pandar_points" + remap_target: pandar_points qos: depth: 10 reliability: best_effort - name: aw_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points" + remap_target: aw_points qos: depth: 10 reliability: best_effort - name: aw_points_ex message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points_ex" + remap_target: aw_points_ex qos: depth: 10 reliability: best_effort - name: blockage_mask message_type: sensor_msgs/msg/Image - remap_target: "blockage_mask" + remap_target: blockage_mask # parameters parameter_files: diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index a3eddec57..5ee497043 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -6,22 +6,22 @@ base: NebulaHesaiPandar128E4X.node override: inputs: - - name: pandar_packets - message_type: pandar_msgs/msg/PandarScan - remap_target: "pandar_packets" + - name: pandar_packets + message_type: pandar_msgs/msg/PandarScan + remap_target: pandar_packets processes: - - name: decoder - trigger_conditions: - - from_input: pandar_packets - outcomes: - - to_output: pandar_points + - name: decoder + trigger_conditions: + - from_input: pandar_packets + outcomes: + - to_output: pandar_points parameters: - - name: launch_hw - type: bool - default: false + - name: launch_hw + type: bool + default: false remove: outputs: - - name: pandar_packets + - name: pandar_packets processes: - - name: hw_interface + - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index d998bbbda..6a6fdb6f0 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -19,31 +19,31 @@ inputs: [] outputs: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan - remap_target: "velodyne_packets" + remap_target: velodyne_packets qos: depth: 10 reliability: best_effort - name: velodyne_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "velodyne_points" + remap_target: velodyne_points qos: depth: 10 reliability: best_effort - name: aw_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points" + remap_target: aw_points qos: depth: 10 reliability: best_effort - name: aw_points_ex message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points_ex" + remap_target: aw_points_ex qos: depth: 10 reliability: best_effort - name: blockage_mask message_type: sensor_msgs/msg/Image - remap_target: "blockage_mask" + remap_target: blockage_mask # parameters parameter_files: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index d308e656b..8bc4c0e20 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -6,22 +6,22 @@ base: NebulaVelodyneVLP16.node override: inputs: - - name: velodyne_packets - message_type: velodyne_msgs/msg/VelodyneScan - remap_target: "velodyne_packets" + - name: velodyne_packets + message_type: velodyne_msgs/msg/VelodyneScan + remap_target: velodyne_packets processes: - - name: decoder - trigger_conditions: - - from_input: velodyne_packets - outcomes: - - to_output: velodyne_points + - name: decoder + trigger_conditions: + - from_input: velodyne_packets + outcomes: + - to_output: velodyne_points parameters: - - name: launch_hw - type: bool - default: false + - name: launch_hw + type: bool + default: false remove: outputs: - - name: velodyne_packets + - name: velodyne_packets processes: - - name: hw_interface + - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 54a4f0958..026d5b2b2 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -19,31 +19,31 @@ inputs: [] outputs: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan - remap_target: "velodyne_packets" + remap_target: velodyne_packets qos: depth: 10 reliability: best_effort - name: velodyne_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "velodyne_points" + remap_target: velodyne_points qos: depth: 10 reliability: best_effort - name: aw_points message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points" + remap_target: aw_points qos: depth: 10 reliability: best_effort - name: aw_points_ex message_type: sensor_msgs/msg/PointCloud2 - remap_target: "aw_points_ex" + remap_target: aw_points_ex qos: depth: 10 reliability: best_effort - name: blockage_mask message_type: sensor_msgs/msg/Image - remap_target: "blockage_mask" + remap_target: blockage_mask # parameters parameter_files: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index a322fb167..a43738a8d 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -6,22 +6,22 @@ base: NebulaVelodyneVLS128.node override: inputs: - - name: velodyne_packets - message_type: velodyne_msgs/msg/VelodyneScan - remap_target: "velodyne_packets" + - name: velodyne_packets + message_type: velodyne_msgs/msg/VelodyneScan + remap_target: velodyne_packets processes: - - name: decoder - trigger_conditions: - - from_input: velodyne_packets - outcomes: - - to_output: velodyne_points + - name: decoder + trigger_conditions: + - from_input: velodyne_packets + outcomes: + - to_output: velodyne_points parameters: - - name: launch_hw - type: bool - default: false + - name: launch_hw + type: bool + default: false remove: outputs: - - name: velodyne_packets + - name: velodyne_packets processes: - - name: hw_interface + - name: hw_interface From 9484b3cac35e98e55526edb4fb6f1afa9ebb6f11 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 20 Feb 2026 15:25:28 +0900 Subject: [PATCH 14/24] chore: update autoware_system_design_format to 0.3.0 and standardize parameter naming - Bumped autoware_system_design_format to 0.3.0 in multiple node configuration files for consistency. - Renamed 'parameters' to 'param_values' and 'parameter_files' to 'param_files' for uniformity across the project. Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 6 +++--- .../nebula_continental/design/NebulaArs548_decode.node.yaml | 4 ++-- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 6 +++--- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 4 ++-- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 6 +++--- .../design/NebulaVelodyneVLP16_decode.node.yaml | 4 ++-- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 6 +++--- .../design/NebulaVelodyneVLS128_decode.node.yaml | 4 ++-- 8 files changed, 20 insertions(+), 20 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index 20c529dbb..e7e57709c 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.2.0 +autoware_system_design_format: 0.3.0 name: NebulaArs548.node @@ -56,13 +56,13 @@ outputs: remap_target: radar_info # parameters -parameter_files: +param_files: - name: config_file default: config/radar/continental/ARS548.param.yaml schema: schema/ARS548.schema.json allow_substs: true -parameters: +param_values: - name: launch_hw type: bool default: true diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 6292b729e..0dbafc4d4 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.1.0 +autoware_system_design_format: 0.3.0 name: NebulaArs548_decode.node @@ -24,7 +24,7 @@ override: - to_output: marker_array - to_output: diagnostics - to_output: radar_info - parameters: + param_values: - name: launch_hw type: bool default: false diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 8df868703..1eef10bb5 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.2.0 +autoware_system_design_format: 0.3.0 name: NebulaHesaiPandar128E4X.node @@ -46,13 +46,13 @@ outputs: remap_target: blockage_mask # parameters -parameter_files: +param_files: - name: config_file default: config/Pandar128E4X.param.yaml schema: schema/Pandar128E4X.schema.json allow_substs: true -parameters: +param_values: - name: launch_hw type: bool default: true diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index 5ee497043..a373dc903 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.1.0 +autoware_system_design_format: 0.3.0 name: NebulaHesaiPandar128E4X_decode.node @@ -15,7 +15,7 @@ override: - from_input: pandar_packets outcomes: - to_output: pandar_points - parameters: + param_values: - name: launch_hw type: bool default: false diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 6a6fdb6f0..f780e54e7 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.2.0 +autoware_system_design_format: 0.3.0 name: NebulaVelodyneVLP16.node @@ -46,13 +46,13 @@ outputs: remap_target: blockage_mask # parameters -parameter_files: +param_files: - name: config_file default: config/VLP16.param.yaml schema: schema/VLP16.schema.json allow_substs: true -parameters: +param_values: - name: launch_hw type: bool default: true diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index 8bc4c0e20..84ef675e0 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.1.0 +autoware_system_design_format: 0.3.0 name: NebulaVelodyneVLP16_decode.node @@ -15,7 +15,7 @@ override: - from_input: velodyne_packets outcomes: - to_output: velodyne_points - parameters: + param_values: - name: launch_hw type: bool default: false diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 026d5b2b2..fc6551197 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.2.0 +autoware_system_design_format: 0.3.0 name: NebulaVelodyneVLS128.node @@ -46,13 +46,13 @@ outputs: remap_target: blockage_mask # parameters -parameter_files: +param_files: - name: config_file default: config/VLS128.param.yaml schema: schema/VLS128.schema.json allow_substs: true -parameters: +param_values: - name: launch_hw type: bool default: true diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index a43738a8d..adfa1549f 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -1,4 +1,4 @@ -autoware_system_design_format: 0.1.0 +autoware_system_design_format: 0.3.0 name: NebulaVelodyneVLS128_decode.node @@ -15,7 +15,7 @@ override: - from_input: velodyne_packets outcomes: - to_output: velodyne_points - parameters: + param_values: - name: launch_hw type: bool default: false From 1000f890484520e7b661ea9651cf780a5d18ec71 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 4 Mar 2026 18:15:20 +0900 Subject: [PATCH 15/24] replace input field Signed-off-by: Takagi, Isamu Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 2 +- .../nebula_continental/design/NebulaArs548_decode.node.yaml | 4 ++-- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 2 +- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 2 +- .../design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 2 +- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 8 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index e7e57709c..e32e577f5 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -13,7 +13,7 @@ launch: use_container: false # interfaces -inputs: +subscribers: - name: odometry_input message_type: geometry_msgs/msg/TwistWithCovarianceStamped remap_target: odometry_input diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 0dbafc4d4..96ecf89b9 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -5,7 +5,7 @@ name: NebulaArs548_decode.node base: NebulaArs548.node override: - inputs: + subscribers: - name: nebula_packets message_type: nebula_msgs/msg/NebulaPackets remap_target: nebula_packets @@ -30,7 +30,7 @@ override: default: false remove: - inputs: + subscribers: - name: odometry_input - name: acceleration_input - name: steering_angle_input diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 1eef10bb5..b6df6ea16 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -14,7 +14,7 @@ launch: container_name: pointcloud_container # interfaces -inputs: [] +subscribers: [] outputs: - name: pandar_packets diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index a373dc903..16ef4abbe 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -5,7 +5,7 @@ name: NebulaHesaiPandar128E4X_decode.node base: NebulaHesaiPandar128E4X.node override: - inputs: + subscribers: - name: pandar_packets message_type: pandar_msgs/msg/PandarScan remap_target: pandar_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index f780e54e7..8c8e3496a 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -14,7 +14,7 @@ launch: container_name: pointcloud_container # interfaces -inputs: [] +subscribers: [] outputs: - name: velodyne_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index 84ef675e0..e98fe839b 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -5,7 +5,7 @@ name: NebulaVelodyneVLP16_decode.node base: NebulaVelodyneVLP16.node override: - inputs: + subscribers: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan remap_target: velodyne_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index fc6551197..5a8bc46e4 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -14,7 +14,7 @@ launch: container_name: pointcloud_container # interfaces -inputs: [] +subscribers: [] outputs: - name: velodyne_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index adfa1549f..aee670957 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -5,7 +5,7 @@ name: NebulaVelodyneVLS128_decode.node base: NebulaVelodyneVLS128.node override: - inputs: + subscribers: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan remap_target: velodyne_packets From ab38762a211575174222806fb29f060c9549bdd0 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 5 Mar 2026 20:36:55 +0900 Subject: [PATCH 16/24] replace output filed Signed-off-by: Takagi, Isamu Signed-off-by: Taekjin LEE --- .../nebula_continental/design/NebulaArs548.node.yaml | 2 +- .../nebula_continental/design/NebulaArs548_decode.node.yaml | 2 +- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 2 +- .../design/NebulaHesaiPandar128E4X_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml | 2 +- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 2 +- .../design/NebulaVelodyneVLS128_decode.node.yaml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index e32e577f5..b4d7aac6c 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -23,7 +23,7 @@ subscribers: - name: steering_angle_input message_type: std_msgs/msg/Float32 remap_target: steering_angle_input -outputs: +publishers: - name: nebula_packets message_type: nebula_msgs/msg/NebulaPackets remap_target: nebula_packets diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml index 96ecf89b9..49b3e5ed7 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548_decode.node.yaml @@ -34,7 +34,7 @@ remove: - name: odometry_input - name: acceleration_input - name: steering_angle_input - outputs: + publishers: - name: nebula_packets processes: - name: hw_interface diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index b6df6ea16..846e4c4c9 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -16,7 +16,7 @@ launch: # interfaces subscribers: [] -outputs: +publishers: - name: pandar_packets message_type: pandar_msgs/msg/PandarScan remap_target: pandar_packets diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml index 16ef4abbe..2918e06b8 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X_decode.node.yaml @@ -21,7 +21,7 @@ override: default: false remove: - outputs: + publishers: - name: pandar_packets processes: - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 8c8e3496a..fc42d6612 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -16,7 +16,7 @@ launch: # interfaces subscribers: [] -outputs: +publishers: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan remap_target: velodyne_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml index e98fe839b..de87bef9a 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16_decode.node.yaml @@ -21,7 +21,7 @@ override: default: false remove: - outputs: + publishers: - name: velodyne_packets processes: - name: hw_interface diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 5a8bc46e4..47b5d6cb4 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -16,7 +16,7 @@ launch: # interfaces subscribers: [] -outputs: +publishers: - name: velodyne_packets message_type: velodyne_msgs/msg/VelodyneScan remap_target: velodyne_packets diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml index aee670957..e23f086c8 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128_decode.node.yaml @@ -21,7 +21,7 @@ override: default: false remove: - outputs: + publishers: - name: velodyne_packets processes: - name: hw_interface From 80d81fb3ac31017c95c9d0a7d8b33ee12fe6ab38 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 9 Mar 2026 16:14:35 +0900 Subject: [PATCH 17/24] refactor: remove param_values included in config files Signed-off-by: Taekjin LEE --- .../design/NebulaArs548.node.yaml | 50 +------ .../design/NebulaHesaiPandar128E4X.node.yaml | 128 +---------------- .../design/NebulaVelodyneVLP16.node.yaml | 129 ------------------ .../design/NebulaVelodyneVLS128.node.yaml | 129 ------------------ 4 files changed, 2 insertions(+), 434 deletions(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index b4d7aac6c..0b6a7492a 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -58,7 +58,7 @@ publishers: # parameters param_files: - name: config_file - default: config/radar/continental/ARS548.param.yaml + default: config/ARS548.param.yaml schema: schema/ARS548.schema.json allow_substs: true @@ -66,54 +66,6 @@ param_values: - name: launch_hw type: bool default: true - - name: host_ip - type: string - default: 10.13.1.166 - - name: sensor_ip - type: string - default: 10.13.1.113 - - name: data_port - type: int - default: 42102 - - name: frame_id - type: string - default: radar - - name: base_frame - type: string - default: base_link - - name: object_frame - type: string - default: base_link - - name: multicast_ip - type: string - default: 224.0.2.2 - - name: sensor_model - type: string - default: ARS548 - - name: configuration_host_port - type: int - default: 42401 - - name: configuration_sensor_port - type: int - default: 42101 - - name: use_sensor_time - type: bool - default: false - - name: radar_info_rate_subsample - type: int - default: 10 - - name: configuration_vehicle_length - type: double - default: 4.89 - - name: configuration_vehicle_width - type: double - default: 1.896 - - name: configuration_vehicle_height - type: double - default: 2.5 - - name: configuration_vehicle_wheelbase - type: double - default: 2.79 # processes processes: diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 846e4c4c9..379364fb4 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -54,137 +54,11 @@ param_files: param_values: - name: launch_hw - type: bool - default: true - - name: sensor_model - type: string - default: Pandar128E4X - - name: host_ip - type: string - default: 192.168.1.10 - - name: sensor_ip - type: string - default: 192.168.1.201 - - name: multicast_ip - type: string - default: "" - - name: data_port - type: int - default: 2368 - - name: gnss_port - type: int - default: 10110 - - name: udp_socket_receive_buffer_size_bytes - type: int - default: 5400000 - - name: packet_mtu_size - type: int - default: 1500 - - name: setup_sensor - type: bool - default: true - - name: udp_only - type: bool - default: false - - name: frame_id - type: string - default: hesai - - name: diag_span - type: int - default: 1000 - - name: min_range - type: double - default: 0.3 - - name: max_range - type: double - default: 300.0 - - name: cloud_min_angle - type: int - default: 0 - - name: cloud_max_angle - type: int - default: 360 - - name: sync_angle - type: int - default: 0 - - name: cut_angle - type: double - default: 0.0 - - name: calibration_file - type: string - default: "" - - name: calibration_download_enabled - type: bool - default: true - - name: rotation_speed - type: int - default: 600 - - name: return_mode - type: string - default: Dual - - name: ptp_profile - type: string - default: automotive - - name: ptp_domain - type: int - default: 0 - - name: ptp_transport_type - type: string - default: L2 - - name: ptp_switch_type - type: string - default: TSN - - name: ptp_lock_threshold - type: int - default: 100 - - name: retry_hw - type: bool - default: true - - name: dual_return_distance_threshold - type: double - default: 0.1 - - name: hires_mode - type: bool - default: true - - name: blockage_range - type: string - default: "[0.0, 0.0]" - - name: horizontal_ring_id - type: int - default: 40 - - name: is_channel_order_top2down - type: bool + type: boolean default: true - name: point_filters.downsample_mask.path type: string default: "" - - name: min_azimuth_deg - type: double - default: 135.0 - - name: max_azimuth_deg - type: double - default: 225.0 - - name: polar_voxel_visibility_estimation_mode - type: string - default: disable - - name: vertical_bins - type: int - default: 128 - - name: horizontal_resolution - type: double - default: 0.4 - - name: enable_blockage_diag - type: bool - default: true - - name: blockage_diagnostics_param_file - type: string - default: config/blockage_diagnostics_param_file.yaml - - name: use_dual_return_filter - type: bool - default: false - - name: diagnostics.packet_loss.error_threshold - type: int - default: 20 # processes processes: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index fc42d6612..841147ee6 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -56,135 +56,6 @@ param_values: - name: launch_hw type: bool default: true - - name: sensor_model - type: string - default: VLP16 - - name: host_ip - type: string - default: 192.168.1.10 - - name: sensor_ip - type: string - default: 192.168.1.201 - - name: multicast_ip - type: string - default: "" - - name: data_port - type: int - default: 2368 - - name: gnss_port - type: int - default: 10110 - - name: udp_socket_receive_buffer_size_bytes - type: int - default: 5400000 - - name: packet_mtu_size - type: int - default: 1500 - - name: setup_sensor - type: bool - default: true - - name: udp_only - type: bool - default: false - - name: frame_id - type: string - default: velodyne - - name: diag_span - type: int - default: 1000 - - name: min_range - type: double - default: 0.3 - - name: max_range - type: double - default: 300.0 - - name: cloud_min_angle - type: int - default: 0 - - name: cloud_max_angle - type: int - default: 360 - - name: sync_angle - type: int - default: 0 - - name: cut_angle - type: double - default: 0.0 - - name: calibration_file - type: string - default: "" - - name: calibration_download_enabled - type: bool - default: true - - name: rotation_speed - type: int - default: 600 - - name: return_mode - type: string - default: Dual - - name: ptp_profile - type: string - default: automotive - - name: ptp_domain - type: int - default: 0 - - name: ptp_transport_type - type: string - default: L2 - - name: ptp_switch_type - type: string - default: TSN - - name: ptp_lock_threshold - type: int - default: 100 - - name: retry_hw - type: bool - default: true - - name: dual_return_distance_threshold - type: double - default: 0.1 - - name: hires_mode - type: bool - default: true - - name: blockage_range - type: string - default: "[0.0, 0.0]" - - name: horizontal_ring_id - type: int - default: 40 - - name: is_channel_order_top2down - type: bool - default: true - - name: point_filters.downsample_mask.path - type: string - default: "" - - name: min_azimuth_deg - type: double - default: 135.0 - - name: max_azimuth_deg - type: double - default: 225.0 - - name: polar_voxel_visibility_estimation_mode - type: string - default: disable - - name: vertical_bins - type: int - default: 128 - - name: horizontal_resolution - type: double - default: 0.4 - - name: enable_blockage_diag - type: bool - default: true - - name: blockage_diagnostics_param_file - type: string - default: config/blockage_diagnostics_param_file.yaml - - name: use_dual_return_filter - type: bool - default: false - - name: diagnostics.packet_loss.error_threshold - type: int - default: 20 # processes processes: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 47b5d6cb4..38199ad5d 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -56,135 +56,6 @@ param_values: - name: launch_hw type: bool default: true - - name: sensor_model - type: string - default: VLS128 - - name: host_ip - type: string - default: 192.168.1.10 - - name: sensor_ip - type: string - default: 192.168.1.201 - - name: multicast_ip - type: string - default: "" - - name: data_port - type: int - default: 2368 - - name: gnss_port - type: int - default: 10110 - - name: udp_socket_receive_buffer_size_bytes - type: int - default: 5400000 - - name: packet_mtu_size - type: int - default: 1500 - - name: setup_sensor - type: bool - default: true - - name: udp_only - type: bool - default: false - - name: frame_id - type: string - default: velodyne - - name: diag_span - type: int - default: 1000 - - name: min_range - type: double - default: 0.3 - - name: max_range - type: double - default: 300.0 - - name: cloud_min_angle - type: int - default: 0 - - name: cloud_max_angle - type: int - default: 360 - - name: sync_angle - type: int - default: 0 - - name: cut_angle - type: double - default: 0.0 - - name: calibration_file - type: string - default: $(find-pkg-share nebula_velodyne_decoders)/calibration/VLS128.yaml - - name: calibration_download_enabled - type: bool - default: true - - name: rotation_speed - type: int - default: 600 - - name: return_mode - type: string - default: Dual - - name: ptp_profile - type: string - default: automotive - - name: ptp_domain - type: int - default: 0 - - name: ptp_transport_type - type: string - default: L2 - - name: ptp_switch_type - type: string - default: TSN - - name: ptp_lock_threshold - type: int - default: 100 - - name: retry_hw - type: bool - default: true - - name: dual_return_distance_threshold - type: double - default: 0.1 - - name: hires_mode - type: bool - default: true - - name: blockage_range - type: string - default: "[0.0, 0.0]" - - name: horizontal_ring_id - type: int - default: 40 - - name: is_channel_order_top2down - type: bool - default: true - - name: point_filters.downsample_mask.path - type: string - default: "" - - name: min_azimuth_deg - type: double - default: 135.0 - - name: max_azimuth_deg - type: double - default: 225.0 - - name: polar_voxel_visibility_estimation_mode - type: string - default: disable - - name: vertical_bins - type: int - default: 128 - - name: horizontal_resolution - type: double - default: 0.4 - - name: enable_blockage_diag - type: bool - default: true - - name: blockage_diagnostics_param_file - type: string - default: config/blockage_diagnostics_param_file.yaml - - name: use_dual_return_filter - type: bool - default: false - - name: diagnostics.packet_loss.error_threshold - type: int - default: 20 # processes processes: From 9867b823cda3d63838e98b963dee2d514fe2cfc5 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 9 Mar 2026 16:44:17 +0900 Subject: [PATCH 18/24] feat: add rotation_speed parameter and update trigger conditions in NebulaHesaiPandar128E4X configuration - Introduced a new parameter 'rotation_speed' with a default value of 600.0. - Updated the trigger condition for 'hw_interface' to use the new 'rotation_speed' parameter. - Modified the 'decoder' process to trigger on 'hw_interface' for improved workflow. Signed-off-by: Taekjin LEE --- .../design/NebulaHesaiPandar128E4X.node.yaml | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 379364fb4..bbb366a92 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -59,16 +59,21 @@ param_values: - name: point_filters.downsample_mask.path type: string default: "" + - name: rotation_speed + type: float + default: 600.0 # processes processes: - name: hw_interface trigger_conditions: - - periodic: 100 # Hz + - periodic: 600.0 # future: ${parameter rotation_speed} outcomes: - to_output: pandar_packets - name: decoder trigger_conditions: - - periodic: 10 # Hz + - and: + - on_trigger: hw_interface + - periodic: 10 # Hz outcomes: - to_output: pandar_points From 7d2930c5c2b8276b1758afd07e512dee5c218b61 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 9 Mar 2026 18:11:42 +0900 Subject: [PATCH 19/24] fix: correct indentation in trigger conditions for NebulaHesaiPandar128E4X configuration Signed-off-by: Taekjin LEE --- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index bbb366a92..8612ff8b7 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -73,7 +73,7 @@ processes: - name: decoder trigger_conditions: - and: - - on_trigger: hw_interface - - periodic: 10 # Hz + - on_trigger: hw_interface + - periodic: 10 # Hz outcomes: - to_output: pandar_points From 67edbe07f451510aaccfd88b51eeed08db83d735 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 10 Mar 2026 09:04:08 +0900 Subject: [PATCH 20/24] chore: remove blockage_mask publisher from NebulaVelodyneVLP16 and NebulaVelodyneVLS128 configurations - Deleted the 'blockage_mask' publisher entry from both node configuration files to streamline the design. Signed-off-by: Taekjin LEE --- .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 3 --- .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 3 --- 2 files changed, 6 deletions(-) diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 841147ee6..a98e482d4 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -41,9 +41,6 @@ publishers: qos: depth: 10 reliability: best_effort - - name: blockage_mask - message_type: sensor_msgs/msg/Image - remap_target: blockage_mask # parameters param_files: diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 38199ad5d..30112722d 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -41,9 +41,6 @@ publishers: qos: depth: 10 reliability: best_effort - - name: blockage_mask - message_type: sensor_msgs/msg/Image - remap_target: blockage_mask # parameters param_files: From 378afa9db6fc102aaaa2e0303856bd7d44681ec7 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 10 Mar 2026 13:57:19 +0900 Subject: [PATCH 21/24] chore: remove container_name from multiple node configuration files - Removed the 'container_name' field from NebulaHesaiPandar128E4X, NebulaVelodyneVLP16, and NebulaVelodyneVLS128 node YAML files for consistency. --- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 1 - .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 1 - .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 1 - 3 files changed, 3 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 8612ff8b7..5c95072d4 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -11,7 +11,6 @@ launch: executable: hesai_ros_wrapper_node node_output: screen use_container: true - container_name: pointcloud_container # interfaces subscribers: [] diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index a98e482d4..89777182a 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -11,7 +11,6 @@ launch: executable: velodyne_ros_wrapper_node node_output: screen use_container: true - container_name: pointcloud_container # interfaces subscribers: [] diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index 30112722d..ee0055219 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -11,7 +11,6 @@ launch: executable: velodyne_ros_wrapper_node node_output: screen use_container: true - container_name: pointcloud_container # interfaces subscribers: [] From cc9cc1002095575dea69eb69a3ae41f44f130f07 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 11 Mar 2026 14:26:26 +0900 Subject: [PATCH 22/24] chore: remove use_container from multiple node configuration files - Removed the 'use_container' field from NebulaHesaiPandar128E4X, NebulaVelodyneVLP16, and NebulaVelodyneVLS128 node YAML files for consistency. --- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 1 - .../nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml | 1 - .../nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml | 1 - 3 files changed, 3 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 5c95072d4..0e8c44939 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -10,7 +10,6 @@ launch: plugin: HesaiRosWrapper executable: hesai_ros_wrapper_node node_output: screen - use_container: true # interfaces subscribers: [] diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml index 89777182a..9be9e4c0c 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLP16.node.yaml @@ -10,7 +10,6 @@ launch: plugin: VelodyneRosWrapper executable: velodyne_ros_wrapper_node node_output: screen - use_container: true # interfaces subscribers: [] diff --git a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml index ee0055219..a44ce8d68 100644 --- a/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml +++ b/src/nebula_velodyne/nebula_velodyne/design/NebulaVelodyneVLS128.node.yaml @@ -10,7 +10,6 @@ launch: plugin: VelodyneRosWrapper executable: velodyne_ros_wrapper_node node_output: screen - use_container: true # interfaces subscribers: [] From 471843cdb8bb3afea0de65f0b302dc80c15509f3 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 16 Mar 2026 18:15:40 +0900 Subject: [PATCH 23/24] chore: remove use_container option from NebulaArs548 node configuration --- .../nebula_continental/design/NebulaArs548.node.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml index 0b6a7492a..02e7e8d41 100644 --- a/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml +++ b/src/nebula_continental/nebula_continental/design/NebulaArs548.node.yaml @@ -10,7 +10,6 @@ launch: plugin: nebula::ros::ContinentalARS548RosWrapper executable: continental_ars548_ros_wrapper_node node_output: screen - use_container: false # interfaces subscribers: From d9ab3b206c194d6b61d533cab7ce22f387c24ad6 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 17 Mar 2026 13:36:30 +0900 Subject: [PATCH 24/24] chore: remove rotation_speed parameter and adjust hw_interface trigger conditions Signed-off-by: Taekjin LEE --- .../nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml index 0e8c44939..19dc28dbc 100644 --- a/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml +++ b/src/nebula_hesai/nebula_hesai/design/NebulaHesaiPandar128E4X.node.yaml @@ -57,15 +57,12 @@ param_values: - name: point_filters.downsample_mask.path type: string default: "" - - name: rotation_speed - type: float - default: 600.0 # processes processes: - name: hw_interface trigger_conditions: - - periodic: 600.0 # future: ${parameter rotation_speed} + - periodic: 10.0 # Hz outcomes: - to_output: pandar_packets - name: decoder