feat(ars548): updated the driver according to new documentation

[knzo25]

PR Type

• Improvement

Related Links

Description

• Added a frequency check on the input signals
• Refactored radar configuration

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• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
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[knzo25]

Will open the PR once I confirm it works on the bench (need to delete some prints as well)

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 64 lines in your changes missing coverage. Please review.

Project coverage is 28.75%. Comparing base (c4e9dd9) to head (bec4751).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...nental/continental_ars548_hw_interface_wrapper.cpp	0.00%	33 Missing ⚠️
..._hw_interfaces/continental_ars548_hw_interface.cpp	0.00%	14 Missing ⚠️
..._common/include/nebula_common/util/ring_buffer.hpp	0.00%	9 Missing ⚠️
...common/include/nebula_common/util/rate_checker.hpp	0.00%	7 Missing ⚠️
...ontinental/decoders/continental_ars548_decoder.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #253      +/-   ##
==========================================
- Coverage   28.89%   28.75%   -0.15%     
==========================================
  Files         105      107       +2     
  Lines        9465     9512      +47     
  Branches     3114     3126      +12     
==========================================
  Hits         2735     2735              
- Misses       6240     6287      +47     
  Partials      490      490              

Flag	Coverage Δ
differential	28.75% <0.00%> (?)
total	?

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[mojomex]

Thank you for the PR!
Functionality looks good (I still have to test it with real HW), I just have a few style-related comments 🙏

[mojomex]

@knzo25 Friendly ping -- this TIER IV INTERNAL discussion reminded me of this PR.

[knzo25]

@mojomex
Sorry for the delay 🙇

[mojomex]

Thanks for the implemented changes!

I have a few more readability-related requests and one related to the behavior on startup (possible rate spike for the first 99 input messages).

Please have a look when you find the time 🙇

[mojomex]

Looks mostly good to me, I found one edge case (no real sensor tests yet 🙇, trying to get that done by wednesday night):

When testing wIth no sensor connected and

ros2 launch nebula_ros nebula_launch.py sensor_model:=ARS548 odometry_topic:=/localization/twist_estimator/twist_with_covariance acceleration_topic:=/localization/acceleration steering_angle_topic:=/vehicle/status/steering_status_scalar

# [...]
# [...] Current acceleration rate is 50.04 Hz. The sensor requires a rate in the range of 10Hz to 50Hz

I'm getting a segfault here:

bool UdpSocket::isOpen() const
{
  return m_udp_socket.is_open();
  //     ^ nullptr
}

with this stack trace:

libboost_udp_driver.so!drivers::udp_driver::UdpSocket::isOpen(const drivers::udp_driver::UdpSocket * const this) (/home/maxschmeller/nebula/transport_drivers/udp_driver/src/udp_socket.cpp:250)
libnebula_hw_interfaces_continental.so!nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_acceleration_lateral_cog(nebula::drivers::continental_ars548::ContinentalARS548HwInterface * const this, float lateral_acceleration) (/usr/include/c++/11/bits/shared_ptr_base.h:1295)
libcontinental_ars548_ros_wrapper.so!nebula::ros::ContinentalARS548HwInterfaceWrapper::acceleration_callback(nebula::ros::ContinentalARS548HwInterfaceWrapper * const this, const geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >::SharedPtr msg) (/usr/include/c++/11/bits/shared_ptr_base.h:1295)
libcontinental_ars548_ros_wrapper.so!std::__invoke_impl<void, void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*&)(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >), nebula::ros::ContinentalARS548HwInterfaceWrapper*&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >( __f,  __t) (/usr/include/c++/11/bits/invoke.h:74)
libcontinental_ars548_ros_wrapper.so!std::__invoke<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*&)(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >), nebula::ros::ContinentalARS548HwInterfaceWrapper*&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >( __fn) (/usr/include/c++/11/bits/invoke.h:96)
libcontinental_ars548_ros_wrapper.so!std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>::__call<void, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&, 0ul, 1ul>(std::tuple<std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&>&&, std::_Index_tuple<0ul, 1ul>)(std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)> * const this) (/usr/include/c++/11/functional:420)
libcontinental_ars548_ros_wrapper.so!std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>::operator()<std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, void>(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&)(std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)> * const this) (/usr/include/c++/11/functional:503)
libcontinental_ars548_ros_wrapper.so!std::__invoke_impl<void, std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >(std::__invoke_other, std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&)( __f) (/usr/include/c++/11/bits/invoke.h:61)
libcontinental_ars548_ros_wrapper.so!std::__invoke_r<void, std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >(std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&)( __fn) (/usr/include/c++/11/bits/invoke.h:111)
libcontinental_ars548_ros_wrapper.so!std::_Function_handler<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >), std::_Bind<void (nebula::ros::ContinentalARS548HwInterfaceWrapper::*(nebula::ros::ContinentalARS548HwInterfaceWrapper*, std::_Placeholder<1>))(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >&&)( __functor,  __args#0) (/usr/include/c++/11/bits/std_function.h:290)
libcontinental_ars548_ros_wrapper.so!std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>::operator()(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >) const( __args#0) (/usr/include/c++/11/bits/std_function.h:590)
libcontinental_ars548_ros_wrapper.so!rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}::operator()<std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&>(std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&) const(const struct {...} * const __closure) (/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:556)
libcontinental_ars548_ros_wrapper.so!std::__invoke_impl<void, rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&>(std::__invoke_other, rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&)() (/usr/include/c++/11/bits/invoke.h:61)
libcontinental_ars548_ros_wrapper.so!std::__invoke<rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&>(rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>&)() (/usr/include/c++/11/bits/invoke.h:96)
libcontinental_ars548_ros_wrapper.so!std::__detail::__variant::__gen_vtable_impl<std::__detail::__variant::_Multi_array<std::__detail::__variant::__deduce_visit_result<void> (*)(rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)>, std::integer_sequence<unsigned long, 16ul> >::__visit_invoke(rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)( __visitor,  __vars#0) (/usr/include/c++/11/variant:1016)
libcontinental_ars548_ros_wrapper.so!std::__do_visit<std::__detail::__variant::__deduce_visit_result<void>, rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&>(rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)(struct {...} && __visitor) (/usr/include/c++/11/variant:844)
libcontinental_ars548_ros_wrapper.so!std::visit<rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&>(rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&)>, std::function<void (geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >)>, std::function<void (std::unique_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >)>, std::function<void (std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, rclcpp::MessageInfo const&)> >&)(struct {...} && __visitor) (/usr/include/c++/11/variant:1761)
libcontinental_ars548_ros_wrapper.so!rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> >::dispatch(const rclcpp::MessageInfo & message_info, std::shared_ptr<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> > > message, rclcpp::AnySubscriptionCallback<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> > * const this) (/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:504)
libcontinental_ars548_ros_wrapper.so!rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void>, geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> > >::handle_message(rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void>, geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::AccelWithCovarianceStamped_<std::allocator<void> >, std::allocator<void> > > * const this,  message, const rclcpp::MessageInfo & message_info) (/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:343)
librclcpp.so!rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) (Unknown Source:0)

[knzo25]

@mojomex
Did you modify any code in nebula to perform such a test?
Usually those callbacks are disconnected when there is no sensor (no sensor -> no sockets)
I have done that to test this feature with no sensor, but of course it will fail, so I just commented out the parts that send info to the sensor

[mojomex]

@knzo25 No I didn't modify anything, just launched as described (with implicit launch_hw:=true) and no sensor connected.
I would expect Nebula to exit with an exception or to wait for any connection to come online, but it segfaults, which is not good.

I did some searching and it's basically triggered by the try/catch around the code initializing the UDP driver. Since this has been done in equal manner for all vendors using transport drivers, this PR is not at fault, and the issue will be gone with #267.