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‎build_depends.repos

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ros2_socketcan:
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type: git
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url: https://github.com/knzo25/ros2_socketcan
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version: feat/continental_fd
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version: feat/continental_fd

‎docs/point_types.md

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@@ -7,54 +7,54 @@ 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` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
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| `ring` | `uint16` | | Ring ID - only defined for rotational LiDARs. |
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| Field | Type | Units | Description |
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| ----------- | -------- | ----- | -------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
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| `ring` | `uint16` | | Ring ID - only defined for rotational LiDARs. |
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## PointXYZICATR
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| Field | Type | Units | Description |
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| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
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| `channel` | `uint16` | | 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` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |
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| `return type` | `uint8` | | Return (echo) type. |
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| Field | Type | Units | Description |
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| ------------- | -------- | --------- | ------------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | The point's cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
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| `channel` | `uint16` | | 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` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |
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| `return type` | `uint8` | | Return (echo) type. |
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## PointXYZIRADT
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| Field | Type | Units | Description |
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| ------------- | -------- | --------- | --------------------------------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Return (echo) type. |
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| `azimuth` | `float` | `degrees` | Azimuth in polar coordinates. |
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| `distance` | `float` | `m` | Distance from the sensor origin. |
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| `timestamp` | `double` | `ns` | Time of detection relative to the pointcloud timestamp. |
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| Field | Type | Units | Description |
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| ------------- | -------- | --------- | ------------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| padding | 4 bytes | | |
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| `intensity` | `float` | | Intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Return (echo) type. |
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| `azimuth` | `float` | `degrees` | Azimuth in polar coordinates. |
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| `distance` | `float` | `m` | Distance from the sensor origin. |
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| `timestamp` | `double` | `ns` | Time of detection 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` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Return (echo) type. |
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| `channel` | `uint16` | | Laser channel ID. |
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| `azimuth` | `float` | `rad` | Azimuth in polar coordinates. |
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| `elevation` | `float` | `rad` | Eevation in polar coordinates. |
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| `distance` | `float` | `m` | Distance from the sensor origin. |
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| `timestamp` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |
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| Field | Type | Units | Description |
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| ------------- | -------- | ----- | ------------------------------------------------------- |
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| `x` | `float` | `m` | Cartesian x coordinate. |
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| `y` | `float` | `m` | Cartesian y coordinate. |
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| `z` | `float` | `m` | Cartesian z coordinate. |
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| `intensity` | `uint8` | | Intensity of the return as reported by the sensor. |
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| `return type` | `uint8` | | Return (echo) type. |
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| `channel` | `uint16` | | Laser channel ID. |
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| `azimuth` | `float` | `rad` | Azimuth in polar coordinates. |
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| `elevation` | `float` | `rad` | Eevation in polar coordinates. |
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| `distance` | `float` | `m` | Distance from the sensor origin. |
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| `timestamp` | `uint32` | `ns` | Time of detection relative to the pointcloud timestamp. |

‎nebula_ros/launch/continental_launch_all_hw.xml

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<remap from="steering_angle_input" to="$(var steering_angle_topic)"/>
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</node>
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</group>
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<group if="$(eval &quot;'$(var sensor_model)' == 'SRR520' &quot;)" >
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<node pkg="nebula_ros" exec="continental_srr520_ros_wrapper_node" name="nebula_continental_srr520" output="screen">

‎nebula_ros/schema/SRR520.schema.json

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"$ref": "#/definitions/SRR520"
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}
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},
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"required": ["ros__parameters"],
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"required": [
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"ros__parameters"
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],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"required": [
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"/**"
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],
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"additionalProperties": false
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}

‎nebula_ros/schema/sub/communication.json

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"ptp_profile": {
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"type": "string",
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"default": "1588v2",
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"enum": ["1588v2", "802.1as", "automotive"],
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"enum": [
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"1588v2",
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"802.1as",
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"automotive"
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],
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"description": "PTP profile."
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},
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"ptp_domain": {
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"ptp_transport_type": {
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"type": "string",
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"default": "UDP",
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"enum": ["UDP", "L2"],
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"enum": [
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"UDP",
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"L2"
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],
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"description": "1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)."
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},
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"ptp_switch_type": {
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"type": "string",
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"default": "TSN",
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"enum": ["TSN", "NON_TSN"],
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"enum": [
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"TSN",
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"NON_TSN"
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],
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"description": "For automotive profile,'TSN' or 'NON_TSN'."
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},
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"receiver_timeout_sec": {

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