feat(velodyne): add test for vlp32

[bgilby59]

PR Type

• New Feature

Related Links

Description

This PR adds a test for VLP32 that passes with the current VLP32 driver.

Review Procedure

1. colcon test --event-handlers console_cohesion+ --packages-above nebula_common
2. code review

Remarks

I confirmed the test is not trivial by arbitrarily changing the VLP32 driver and confirming the test fails.

A future PR should combine the VLP16, VLP32, and VLS128 tests into one generic Velodyne test as very few lines of code differ between the 3 tests.

Pre-Review Checklist for the PR Author

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

• 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]

Thanks for the PR!

Tested:

• Compiling Nebula and running tests (all pass ✔️)
• Introducing a small offset to the decoded x coordinates in vlp32_decoder.cpp and recompiling. Test fails ✔️

LGTM!