fix(hesai): set PTP lock offset on sensor configuration

[mojomex]

PR Type

• Improvement
• Bug Fix

Related Links

• TIER IV INTERNAL LINK - corresponding sensing inquiry

Description

This PR adds support for the SET_PTP_LOCK_OFFSET and GET_PTP_LOCK_OFFSET PTC commands.
In the inquiry linked above, it was observed that not explicitly setting PTP lock offset sometimes causes the value to reset to 1 us on at least OT128. While this is likely a sensor firmware bug, being able to set this offset from within Nebula should improve usability, and should eliminate the need to use Hesai's web interface or desktop GUI.

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[codecov]

Codecov Report

Attention: Patch coverage is 8.00000% with 23 lines in your changes missing coverage. Please review.

Project coverage is 26.07%. Comparing base (3d42cd0) to head (02b9989).

Files with missing lines	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	13 Missing ⚠️
nebula_ros/src/hesai/hesai_ros_wrapper.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #239      +/-   ##
==========================================
- Coverage   26.11%   26.07%   -0.05%     
==========================================
  Files         101      101              
  Lines        9212     9230      +18     
  Branches     2211     2212       +1     
==========================================
+ Hits         2406     2407       +1     
- Misses       6417     6434      +17     
  Partials      389      389              

Flag	Coverage Δ
differential	26.07% <8.00%> (?)
total	?

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[mojomex]

Evaluation

Sensor Model	SW Version	FW Version	Ctrl. FW Version	Works?
OT128	1.3.19	1.3.13	1.3.10	🟢
Pandar40P	2.10.4	4.3.40a	4.51	🔴
Pandar64	2.7.7	4.3.15b	5.10	🔴

Here is a demo of OT128:

ptp-lock-offset.mp4

It has been confirmed that by restarting Nebula, for a brief moment, the setting can revert to the old value (Hesai firmware bug or PTC documentation inaccurate). With this PR, it is immediately set to the desired value again.