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feat(nebula_continental, nebula_hesai): apply agnocast_components for CIE #418

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feat(nebula_continental, nebula_hesai): apply agnocast_components for CIE #418

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656dac6
feat(nebula_continental): apply autoware_agnocast_wrapper for CIE
atsushi421 Mar 17, 2026
a1ce5fc
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 17, 2026
4ed4429
Merge branch 'main' into feat/nebula-ros/apply-cie
atsushi421 Mar 18, 2026
3feead6
refactor(nebula_continental): replace autoware_agnocast_wrapper with …
atsushi421 Mar 18, 2026
ed6d44d
fix(nebula_continental): make agnocast_components dependency conditio…
atsushi421 Mar 18, 2026
cd50eef
fix(nebula_continental): register SRR520 with agnocast_components whe…
atsushi421 Mar 18, 2026
161ea6b
feat(nebula_hesai): apply CIE with agnocast_components
atsushi421 Mar 19, 2026
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33 changes: 27 additions & 6 deletions src/nebula_continental/nebula_continental/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,10 @@ find_package(message_filters REQUIRED)
find_package(tf2_ros REQUIRED)
autoware_package()

if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND)
message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled")
endif()

# # Continental

# ARS548
Expand Down Expand Up @@ -42,9 +46,16 @@ ament_target_dependencies(
rclcpp_components
tf2_ros)

rclcpp_components_register_node(
continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
EXECUTABLE continental_ars548_ros_wrapper_node)
if("$ENV{ENABLE_AGNOCAST}")
agnocast_components_register_node(
continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
EXECUTABLE continental_ars548_ros_wrapper_node
EXECUTOR CallbackIsolatedAgnocastExecutor)
else()
rclcpp_components_register_node(
continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper"
EXECUTABLE continental_ars548_ros_wrapper_node)
endif()

# SRR520
add_library(
Expand Down Expand Up @@ -79,9 +90,15 @@ ament_target_dependencies(
message_filters
tf2_ros)

rclcpp_components_register_node(
continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
EXECUTABLE continental_srr520_ros_wrapper_node)
if("$ENV{ENABLE_AGNOCAST}")
agnocast_components_register_node(
continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
EXECUTABLE continental_srr520_ros_wrapper_node)
else()
rclcpp_components_register_node(
continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper"
EXECUTABLE continental_srr520_ros_wrapper_node)
endif()

install(
TARGETS continental_ars548_ros_wrapper
Expand Down Expand Up @@ -185,4 +202,8 @@ ament_export_dependencies(
visualization_msgs
yaml-cpp)

if("$ENV{ENABLE_AGNOCAST}")
ament_export_dependencies(agnocast_components)
endif()

ament_package()
1 change: 1 addition & 0 deletions src/nebula_continental/nebula_continental/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<buildtool_depend>ros_environment</buildtool_depend>
<buildtool_depend>ros_testing</buildtool_depend>

<depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>
<depend>autoware_sensing_msgs</depend>
<depend>continental_msgs</depend>
<depend>continental_srvs</depend>
Expand Down
15 changes: 13 additions & 2 deletions src/nebula_hesai/nebula_hesai/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,9 @@ autoware_package()
if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocastlib_FOUND)
message(FATAL_ERROR "agnocastlib is required when Agnocast is enabled")
endif()
if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND)
message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled")
endif()

# Hesai
add_library(
Expand Down Expand Up @@ -46,8 +49,15 @@ if("$ENV{ENABLE_AGNOCAST}")
add_definitions(-DUSE_AGNOCAST_ENABLED)
endif()

rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
EXECUTABLE hesai_ros_wrapper_node)
if("$ENV{ENABLE_AGNOCAST}")
agnocast_components_register_node(
hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
EXECUTABLE hesai_ros_wrapper_node
EXECUTOR CallbackIsolatedAgnocastExecutor)
else()
rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper"
EXECUTABLE hesai_ros_wrapper_node)
endif()

install(
TARGETS hesai_ros_wrapper
Expand Down Expand Up @@ -185,6 +195,7 @@ ament_export_dependencies(

if("$ENV{ENABLE_AGNOCAST}")
ament_export_dependencies(agnocastlib)
ament_export_dependencies(agnocast_components)
endif()

ament_package()
1 change: 1 addition & 0 deletions src/nebula_hesai/nebula_hesai/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
<buildtool_depend>ros_environment</buildtool_depend>
<buildtool_depend>ros_testing</buildtool_depend>

<depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>
<depend condition="$ENABLE_AGNOCAST == 1">agnocastlib</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_utils_debug</depend>
Expand Down
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