feat: support Aeva Aeries II

[mojomex]

PR Type

• New Feature

Description

Add support for Aeva Aeries II:

• output pointclouds with velocity info
• allow for frame sync, scan pattern and FoV setup via the launch config
• publish diagnostics (health + telemetry) to /diagnostics

Review Procedure

• Code review
• Test with sensor
  • Pointcloud fields are correct (use rviz2)
  • Packets are published when subscribed to when launch_hw:=true, subscribed to when launch_hw:=false
  • Diagnostics are correct (use rqt's Plugins->Robot Tools->Runtime Monitor)
• Test with PTP configs provided by Aeva

Remarks

This is a fairly minimal implementation for now.

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• [x] Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• [ ] Commits are properly organized and messages are according to the guideline
• [ ] (Optional) Unit tests have been written for new behavior
• [ ] PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• [ ] All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[mojomex]

:green_circle: Evaluation

:green_circle: Pointcloud Output

Pointcloud Field	Image
azimuth
elevation
distance
range rate
intensity
channel
return type*
timestamp**

*: red: strongest, magenta: second strongest. ~Currently, there is no documented way to get or set the return mode without the proprietary API. Nebula is currently hard-coded for the default configuration.~ fixed in 7ea9137. Return modes are now correctly handled. **: clamped to [red, magenta] = [0 ns, 1e8 ns]. Timestamps are loosely proportional to increasing elevation.

:green_circle: Performance

The pointcloud is published consistently at around 10 Hz:

:green_circle: Hardware Monitor

Diagnostic	Image
temperature
system info
SPC converter
scanner
health codes***
configuration

***: :warning: Currently, the descriptions of health codes are under NDA and cannot be put into Nebula.

:green_circle: PTP & Synchronization

PTP has been tested with all provided mechanisms (1588v2, gPTP, automotive) and works with all of them using the vendor-provided configurations.

Pointcloud timestamps take around 1-2 min to converge.

Description	Image
PTP started, sensor syncs shortly after
~100s later, timestamp converges to ToS
HW monitor shows converged state
HW monitor shows PTP info

:green_circle: Error Handling & Recovery

Currently, Nebula does not attempt to recover from communication errors and instead exits, instead of continuing in a possibly corrupted state. Errors that have been observed:

• failing to connect to sensor early after power-on (sensor boots for ~1-2 mins)
• ~failing to fetch configuration manifest (timeout)~ fixed in 7781318 (protocol impl was wrong)
• ~receiving unexpected responses after configuration command~ fixed in 7781318 (protocol impl was wrong)

All of these errors only occur during startup. No crashes / errors were observed during runtime.

:green_circle: Parameters

All parameters from the sensor's manifest that have more than one possible value have been added to Nebula. No attempt was made to convert them to the common naming scheme used in the other drivers (e.g. return_mode for Aeva is second_peak_type).

Validation:

• Parameters are validated by the sensor and rejected by Nebula if the sensor reports them as invalid
• Parameters are automatically propagated to the hardware and decoder
• Parameter schema allows for auto-complete in config file

[mojomex]

@drwnz All issues from yesterday have been addressed and I could not find any bugs or unexpected behavior since. I think this is ready to merge.

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0.24845% with 803 lines in your changes missing coverage. Please review.

Project coverage is 24.05%. Comparing base (3284357) to head (dfb1a02). Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
nebula_ros/src/aeva/aeva_ros_wrapper.cpp	0.00%	167 Missing :warning:
...nebula_hw_interfaces_aeva/connections/reconfig.hpp	0.00%	101 Missing :warning:
...ebula_hw_interfaces_aeva/connections/telemetry.hpp	0.00%	78 Missing :warning:
nebula_ros/src/aeva/hw_monitor_wrapper.cpp	0.00%	77 Missing :warning:
...nebula_hw_interfaces_aeva/connections/aeva_api.hpp	0.00%	67 Missing :warning:
...rc/nebula_aeva_hw_interfaces/aeva_hw_interface.cpp	0.00%	49 Missing :warning:
.../src/nebula_decoders_aeva/aeva_aeries2_decoder.cpp	0.00%	38 Missing :warning:
...hw_interfaces_common/connections/stream_buffer.hpp	0.00%	23 Missing :warning:
...common/include/nebula_common/aeva/config_types.hpp	0.00%	17 Missing :warning:
...bula_hw_interfaces_aeva/connections/pointcloud.hpp	0.00%	17 Missing :warning:
... and 22 more

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #169 +/- ## ========================================== - Coverage 26.10% 24.05% -2.05% ========================================== Files 100 125 +25 Lines 9218 10012 +794 Branches 2215 2309 +94 ========================================== + Hits 2406 2408 +2 - Misses 6423 7215 +792 Partials 389 389 ``` | [Flag](https://app.codecov.io/gh/tier4/nebula/pull/169/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/nebula/pull/169/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `24.05% <0.24%> (?)` | | | [total](https://app.codecov.io/gh/tier4/nebula/pull/169/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more.

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[mojomex]

:green_circle: Confirmed working with FW 14.0.0 after the latest commits: