Merge branch 'main' into hesai-hw-interface-error-handling

nebula_tests/data/velodyne/vlp32/1713492677464078412/metadata.yaml

@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 376987098
+  starting_time:
+    nanoseconds_since_epoch: 1713492677464078412
+  message_count: 5
+  topics_with_message_count:
+    - topic_metadata:
+        name: /sensing/lidar/front/velodyne_packets
+        type: velodyne_msgs/msg/VelodyneScan
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 5
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 1713492677464078412_0.db3
+  files:
+    - path: 1713492677464078412_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1713492677464078412
+      duration:
+        nanoseconds: 376987098
+      message_count: 5

nebula_tests/velodyne/CMakeLists.txt

@@ -39,3 +39,24 @@ target_link_libraries(velodyne_ros_decoder_test_main_vls128
         ${PCL_LIBRARIES}
         velodyne_ros_decoder_test_vls128
         )
+
+# Velodyne VLP32
+ament_auto_add_library(velodyne_ros_decoder_test_vlp32 SHARED
+velodyne_ros_decoder_test_vlp32.cpp
+)
+target_link_libraries(velodyne_ros_decoder_test_vlp32 ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})
+
+ament_add_gtest(velodyne_ros_decoder_test_main_vlp32
+velodyne_ros_decoder_test_main_vlp32.cpp
+)
+ament_target_dependencies(velodyne_ros_decoder_test_main_vlp32
+${NEBULA_TEST_DEPENDENCIES}
+)
+target_include_directories(velodyne_ros_decoder_test_main_vlp32 PUBLIC
+${PROJECT_SOURCE_DIR}/src/velodyne
+include
+)
+target_link_libraries(velodyne_ros_decoder_test_main_vlp32
+${PCL_LIBRARIES}
+velodyne_ros_decoder_test_vlp32
+)

nebula_tests/velodyne/velodyne_ros_decoder_test_main_vlp32.cpp

@@ -0,0 +1,46 @@
+#include "velodyne_ros_decoder_test_vlp32.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+std::shared_ptr<nebula::ros::VelodyneRosDecoderTest> velodyne_driver;
+
+TEST(TestDecoder, TestPcd)
+{
+  std::cout << "TEST(TestDecoder, TestPcd)" << std::endl;
+  velodyne_driver->ReadBag();
+}
+
+int main(int argc, char * argv[])
+{
+  std::cout << "velodyne_ros_decoder_test_main_vlp32.cpp" << std::endl;
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  std::string node_name = "nebula_velodyne_decoder_test";
+
+  rclcpp::init(argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+
+  velodyne_driver = std::make_shared<nebula::ros::VelodyneRosDecoderTest>(options, node_name);
+  exec.add_node(velodyne_driver->get_node_base_interface());
+
+  RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Get Status");
+  nebula::Status driver_status = velodyne_driver->GetStatus();
+  int result = 0;
+  if (driver_status == nebula::Status::OK) {
+    RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Reading Started");
+    result = RUN_ALL_TESTS();
+  } else {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger(node_name), driver_status);
+  }
+  RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Ending");
+  velodyne_driver.reset();
+  rclcpp::shutdown();
+
+  return result;
+}