fix(velodyne_hw_monitor): allow max cloud angle of 360 degrees

Signed-off-by: David Wong <[email protected]>

nebula_ros/config/velodyne/VLP32.yaml

@@ -1,25 +1,10 @@
-#nebula_velodyne_hw_interface:
-#nebula_velodyne_hw_monitor:
 /**:
   ros__parameters:
-    sensor_model: "VLP32" # See readme for supported models
-    sensor_ip: "192.168.1.201" # Lidar Sensor IP
-    host_ip: "255.255.255.255" # Broadcast IP from Sensor
+    sensor_model: "VLP32"
+    sensor_ip: "192.168.1.201"
+    host_ip: "255.255.255.255"
     frame_id: "velodyne"
-    data_port: 2368 # LiDAR Data Port
-    gnss_port: 2369 # LiDAR GNSS Port
-    return_mode: "Dual" # See readme for supported return modes
-    scan_phase: 0.0 # Angle where scans begin (degrees, [0.,360.]
-    packet_mtu_size: 1500 # Packet MTU size
-    rotation_speed: 600 # Motor RPM, the sensor's internal spin rate.
-    cloud_min_angle: 0 # Field of View, start degrees.
-    cloud_max_angle: 359 # Field of View, end degrees.
-    diag_span: 1000 # milliseconds
-    advanced_diagnostics: False # original diag
-    min_range: 0.3
-    max_range: 300.0
-    view_width: 360.0
-    calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/velodyne/VLP32.yaml"
+    data_port: 2368
+    gnss_port: 2369
     setup_sensor: True
-
     online: True

nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp

@@ -266,7 +266,7 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(359).set__step(1);
+    range.set__from_value(0).set__to_value(360).set__step(1);
     descriptor.integer_range = {range};
     this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
     sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
@@ -278,9 +278,9 @@ Status VelodyneHwMonitorRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(359).set__step(1);
+    range.set__from_value(0).set__to_value(360).set__step(1);
     descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 359, descriptor);
+    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
     sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
   }