fix(velodyne): propagate sub-second part of timestamps to pointcloud timestamp

mojomex commented 2 months ago

PR Type

Bug Fix

Description

This PR fixes a bug where all Velodyne pointclouds have a cloud timestamp which is rounded down to to the nearest second.

Ths bug was introduced by mistakenly changing the following expression

/* from */ rclcpp::Time(packet.stamp).seconds()
/*   to */ packet.stamp.sec

Review Procedure

Confirm that cloud timestamps are correct (nanosec field increases by 100ms each scan).

Remarks

Tested with Autoware logging simulator:

ros2 topic echo --field header.stamp --csv /sensing/lidar/left/aw_points_ex

Before:

1585897255,0
1585897255,0
1585897255,0
1585897255,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897256,0
1585897257,0
1585897257,0

After:

1585897255,310290688
1585897255,360631040
1585897255,461410560
1585897255,561021440
1585897255,660529152
1585897255,761372928
1585897255,860926720
1585897255,960501248
1585897256, 61242112
1585897256,160895744
1585897256,260359168
1585897256,361232640
1585897256,460778240
1585897256,562444032
1585897256,661132800
1585897256,760673536
1585897256,860208384
1585897256,961116672
1585897257, 60684800
1585897257,160203520

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[ ] 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

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

CI Checks

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

codecov[bot] commented 2 months ago

Codecov Report

Attention: Patch coverage is 75.00000% with 1 line in your changes missing coverage. Please review.

Project coverage is 25.80%. Comparing base (9f706e3) to head (3af07cf). Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
nebula_ros/src/velodyne/decoder_wrapper.cpp	0.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #201 +/- ## ========================================== - Coverage 29.65% 25.80% -3.86% ========================================== Files 99 99 Lines 8760 8748 -12 Branches 2173 2145 -28 ========================================== - Hits 2598 2257 -341 + Misses 6116 6105 -11 - Partials 46 386 +340 ``` | [Flag](https://app.codecov.io/gh/tier4/nebula/pull/201/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/201/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `25.80% <75.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/nebula/pull/201/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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