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docs: update point types and sensor models, smaller fixes
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‎docs/point_types.md

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# Nebula point cloud types
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Nebula supports three point cloud output types.
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Nebula currently supports the below point cloud output types.
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However, it can easily be extended to support other custom point cloud types.
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These definitions can be found in the `nebula_common/include/point_types.hpp`.
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## PointXYZIR
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| Field | Type | Units | Description |
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| ------------- | ------- | ----- | -------------------------------------------------------------------- |
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| `x` | `float` | `m` | Contains the abscissa member of the point in cartesian coordinates. |
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| `y` | `float` | `m` | Contains the ordinate member of the point in cartesian coordinates. |
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| `z` | `float` | `m` | Contains the applicate member of the point in cartesian coordinates. |
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| `intensity` | `uint8` | | Contains the laser energy return value as reported by the sensor. |
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| `return type` | `uint8` | | Contains the lase return type according to the sensor configuration. |
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## PointXYZICAETR
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| Field | Type | Units | Description |
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| ------------- | ------- | ----- | -------------------------------------------------------------------- |
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| `x` | `float` | `m` | Contains the abscissa member of the point in cartesian coordinates. |
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| `y` | `float` | `m` | Contains the ordinate member of the point in cartesian coordinates. |
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| `z` | `float` | `m` | Contains the applicate member of the point in cartesian coordinates. |
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| `intensity` | `uint8` | | Contains the laser energy return value as reported by the sensor. |
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| `channel` | `uint8` | | Contains the laser channel id. |
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| `azimuth` | `float` | `rad` | Contains the azimuth of the current point. |
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| `elevation` | `float` | `rad` | Contains the elevation of the current point. |
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| `timestamp` | `float` | `ns` | Contains the relative time to the triggered scan time. |
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| `return type` | `uint8` | | Contains the lase return type according to the sensor configuration. |
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| Field | Type | Units | Description |
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| ------------- | ------- | ----- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | The point's cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | The point's cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
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## PointXYZICATR
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| Field | Type | Units | Description |
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| ------------- | ------- | --------- | -------------------------------------------------------------------- |
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| `x` | `float` | `m` | Contains the abscissa member of the point in cartesian coordinates. |
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| `y` | `float` | `m` | Contains the ordinate member of the point in cartesian coordinates. |
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| `z` | `float` | `m` | Contains the applicate member of the point in cartesian coordinates. |
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| `intensity` | `uint8` | | Contains the laser energy return value as reported by the sensor. |
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| `channel` | `uint8` | | Contains the laser channel id. |
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| `azimuth` | `float` | `degrees` | Contains the azimuth of the current point. |
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| `timestamp` | `float` | `ns` | Contains the relative time to the triggered scan time. |
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| `return type` | `uint8` | | Contains the lase return type according to the sensor configuration. |
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| Field | Type | Units | Description |
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| ------------- | ------- | --------- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | The point's cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | The point's cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
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| `channel` | `uint8` | | The ID of the laser channel that produced the point. |
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| `azimuth` | `float` | `degrees` | azimuth in polar coordinates. |
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| `timestamp` | `float` | `ns` | The time the point was detected relative to the pointcloud timestamp. |
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| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
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## PointXYZIRADT
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| Field | Type | Units | Description |
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| ------------- | ------- | --------- | -------------------------------------------------------------------------- |
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| `x` | `float` | `m` | Contains the abscissa member of the point in cartesian coordinates. |
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| `y` | `float` | `m` | Contains the ordinate member of the point in cartesian coordinates. |
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| `z` | `float` | `m` | Contains the applicate member of the point in cartesian coordinates. |
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| `intensity` | `uint8` | | Contains the laser energy return value as reported by the sensor. |
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| `return type` | `uint8` | | Contains the lase return type according to the sensor configuration. |
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| `azimuth` | `float` | `degrees` | Contains the azimuth of the current point. |
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| `distance` | `float` | `m` | Contains the distance from the sensor origin to this echo on the XY plane. |
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| `timestamp` | `float` | `ns` | Contains the relative time to the triggered scan time. |
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| Field | Type | Units | Description |
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| ------------- | ------- | --------- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | The point's cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | The point's cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
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| `azimuth` | `float` | `degrees` | The point's azimuth in polar coordinates. |
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| `distance` | `float` | `m` | The point's distance from the sensor origin. |
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| `timestamp` | `float` | `ns` | The time the point was detected relative to the pointcloud timestamp. |
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## NebulaPoint = PointXYZIRCAEDT
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| Field | Type | Units | Description |
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| ------------- | -------- | ----- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | The point's cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | The point's cartesian z coordinate. |
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| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
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| `channel` | `uint16` | | The ID of the laser channel that produced the point. |
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| `azimuth` | `float` | `rad` | The point's azimuth in polar coordinates. |
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| `elevation` | `float` | `rad` | The point's elevation in polar coordinates. |
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| `distance` | `float` | `m` | The point's distance from the sensor origin. |
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| `timestamp` | `float` | `ns` | The time the point was detected relative to the pointcloud timestamp. |

‎docs/supported_sensors.md

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# Supported sensors
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Nebula currently supports the following sensor models, where `sensor_model` is the ROS parameter to be used at launch:
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Nebula currently supports the sensor models listed below. The test status column indicates how many of the sensors' features are supported.
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For all sensors, the respective configuration file is found under `nebula_ros/config/<type>/<vendor>/<filename>` where
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- `<type>` is either lidar or radar,
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- `<vendor>` is the vendor of the sensor and
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- `<filename>` is listed in the table below.
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The launch file for a given vendor is called `<vendor>_launch_all_hw.xml`.
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The `sensor_model` parameter below decides which sensor driver is launched.
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## Hesai LiDARs
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| Model | `sensor_model` | Configuration file | Test status |
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| ------------- | -------------- | ------------------ | ----------- |
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| Pandar64 | Pandar64 | Pandar64.yaml | ✅ |
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| Pandar 40P | Pandar40P | Pandar40P.yaml | ✅ |
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| Pandar XT32 | PandarXT32 | PandarXT32.yaml | ✅ |
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| Pandar XT32M | PandarXT32M | PandarXT32M.yaml | ⚠️ |
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| Pandar QT64 | PandarQT64 | PandarQT64.yaml | ✅ |
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| Pandar QT128 | PandarQT128 | PandarQT128.yaml | ⚠️ |
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| Pandar AT128 | PandarAT128 | PandarAT128.yaml | ✅\* |
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| Pandar 128E4X | Pandar128E4X | Pandar128E4X.yaml | ⚠️ |
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| Model | `sensor_model` | Configuration file | Test status |
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| ------------ | -------------- | ----------------------- | ----------- |
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| Pandar64 | Pandar64 | Pandar64.param.yaml | ✅ |
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| Pandar 40P | Pandar40P | Pandar40P.param.yaml | ✅ |
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| Pandar XT32 | PandarXT32 | PandarXT32.param.yaml | ✅ |
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| Pandar XT32M | PandarXT32M | PandarXT32M.param.yaml | ⚠️ |
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| Pandar QT64 | PandarQT64 | PandarQT64.param.yaml | ✅ |
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| Pandar QT128 | PandarQT128 | PandarQT128.param.yaml | ⚠️ |
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| Pandar AT128 | PandarAT128 | PandarAT128.param.yaml | ✅\* |
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| Pandar OT128 | Pandar128E4X | Pandar128E4X.param.yaml | ⚠️ |
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\*: AT128 needs software version 3.50.8 or newer for the `scan_angle` setting to work correctly.
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## Velodyne LiDARs
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| Model | `sensor_model` | Configuration file | Test status |
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| ------------ | -------------- | ------------------ | ----------- |
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| VLP-16 | VLP16 | VLP16.yaml | ⚠️ |
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| VLP-16 | VLP16 | VLP16.param.yaml | ⚠️ |
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| VLP-16-HiRes | VLP16 | | ❌ |
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| VLP-32 | VLP32 | VLP32.yaml | ⚠️ |
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| VLS-128 | VLS128 | VLS128.yaml | ⚠️ |
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| VLP-32 | VLP32 | VLP32.param.yaml | ⚠️ |
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| VLS-128 | VLS128 | VLS128.param.yaml | ⚠️ |
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## Robosense LiDARs
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| Model | `sensor_model` | Configuration file | Test status |
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| ------ | -------------- | ------------------ | ----------- |
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| Bpearl | Bpearl | Bpearl.yaml | ⚠️ |
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| Helios | Helios | Helios.yaml | ⚠️ |
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| Bpearl | Bpearl | Bpearl.param.yaml | ⚠️ |
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| Helios | Helios | Helios.param.yaml | ⚠️ |
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## Continental radars
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| Model | `sensor_model` | Configuration file | Test status |
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| ------ | -------------- | ------------------ | ----------- |
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| ARS548 | ARS548 | ARS548.yaml | ⚠️ |
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| ARS548 | ARS548 | ARS548.param.yaml | ⚠️ |
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| SRR520 | SRR520 | SRR520.param.yaml | ⚠️ |
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Test status:
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✅: complete
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⚠️: some functionality yet to be tested
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❌: untested
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\*: AT128 needs software version 3.50.8 or newer for the `scan_angle` setting to work correctly.
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❌: untested

‎docs/usage.md

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ros2 launch nebula_ros hesai_launch_all_hw.xml sensor_model:=Pandar40P
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```
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Refer to the list of [supported sensors](supported_sensors.md) for more information on the avaliable sensors and configuration options.
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## Sensor configuration
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WIP

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