Changelog for package nebula_hesai

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
jazzy

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `nebula_hesai` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

nebula_hesai package from nebula repo

nebula continental_msgs continental_srvs nebula_continental nebula_continental_common nebula_continental_decoders nebula_continental_hw_interfaces nebula_core_common nebula_core_decoders nebula_core_hw_interfaces nebula_core_ros nebula_msgs nebula_hesai nebula_hesai_common nebula_hesai_decoders nebula_hesai_hw_interfaces pandar_msgs nebula_robosense nebula_robosense_common nebula_robosense_decoders nebula_robosense_hw_interfaces robosense_msgs nebula_sample nebula_sample_common nebula_sample_decoders nebula_sample_hw_interfaces nebula_velodyne nebula_velodyne_common nebula_velodyne_decoders nebula_velodyne_hw_interfaces

ROS Distro
humble

Package Summary

Version	1.3.0
License	Apache 2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/tier4/nebula.git
VCS Type	git
VCS Version	main
Last Updated	2026-09-29
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Nebula Hesai ROS Wrapper

Maintainers

David Wong
Max Schmeller

Authors

TIER IV

README

No README found. See repository README.

CHANGELOG

Changelog for package nebula_hesai

1.3.0 (2026-09-29)

chore(nebula_core_ros): follow upstream's agnocast_wrapper layout (#495) The Hesai wrapper now registers through nebula_agnocast_wrapper_register_node(), which selects the ROS or Agnocast context at runtime instead of assuming an Agnocast-only executor.
fix(nebula_core_ros): build the synced agnocast_wrapper Node implementation (#494) Drops the redundant USE_AGNOCAST_ENABLED definition, now exported PUBLIC by nebula_core_ros.
fix(nebula_hesai_decoders): drop scans whose timestamp was never set (#493) Stops such scans from reaching the pointcloud publisher.
Contributors: Koichi Imai, lei.gu

1.2.0 (2026-07-30)

feat(nebula_core_ros): make SyncToolingWorker compatible with agnocast_wrapper::Node (#469)
- feat(nebula_core_ros): make shared diagnostics/sync helpers agnocast_wrapper::Node-compatible
- feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node (Method 2)
* fix(continental_ars548_ros_wrapper): publish pass-through messages via publish(const &) The ALLOCATE_OUTPUT + out = std::move(msg) pattern stole msg's buffer, which was allocated on the normal heap (outside the borrow window), so the payload never entered shared memory and agnocast zero-copy delivered an invalid pointer to cross-process subscribers. publish(const &) borrows inside the window and copies into shared memory, which is correct on both the rclcpp and agnocast backends.
- fix(nebula_core_ros): include renamed nebula_agnocast_wrapper.hpp in sync_tooling_worker
- feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node (Method 2)
- ci(pre-commit): autofix
- fix(nebula_hesai): renamed wrapper include, const-ref packets publish, restore cie thread factory
- include the post-#472 nebula_agnocast_wrapper.hpp (old autoware_agnocast_wrapper.hpp no longer exists)

- publish raw packets via publish(*msg) so the payload is materialized into shared memory (a plain std::move would leave it on the normal heap, invalid for cross-process subscribers)

- restore make_cie_thread_factory for the packets publish thread; the migration had dropped it, which would leave that non-ROS thread unmanaged by the Agnocast CIE thread configurator and lose its configured priority/affinity

* fix(continental_ars548_ros_wrapper): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends.

* fix(nebula_hesai): log the resolved packets topic again The migration replaced [packets_sub_->get_topic_name()]{.title-ref} with the relative topic literal, which hides the actual (namespaced/remapped) topic and makes troubleshooting harder. The wrapper's Subscription has no get_topic_name(), so resolve the name through the node's topics interface instead; this yields the same fully-qualified name as before on both backends. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>
fix(nebula_hesai): guard sensor setup with try/catch and retry (#464)

* fix(nebula_hesai): remove throwaway thread+join in check_and_set_config The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ros_environment
	ros_testing
	ament_cmake_gtest
	ament_lint_auto
	rosbag2_cpp
	agnocast_cie_thread_configurator
	agnocast_components
	agnocastlib
	autoware_internal_debug_msgs
	autoware_utils_debug
	diagnostic_msgs
	diagnostic_updater
	nebula_core_common
	nebula_core_decoders
	nebula_core_hw_interfaces
	nebula_core_ros
	nebula_hesai_common
	nebula_hesai_decoders
	nebula_hesai_hw_interfaces
	nebula_msgs
	pandar_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	sync_tooling_msgs

System Dependencies

Name
boost

Dependant Packages

Name	Deps
nebula

Launch files

launch/hesai_launch_all_hw.xml
- - sensor_model
  - launch_hw [default: true]
  - config_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
launch/hesai_offline.xml
- - sensor_model
  - return_mode [default: Dual]
  - frame_id [default: hesai]
  - scan_phase [default: 0.0]
  - calibration_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).csv]
  - correction_file [default: $(find-pkg-share nebula_hesai_decoders)/calibration/$(var sensor_model).dat]
  - bag_path [default: path to bag dir]
  - storage_id [default: sqlite3]
  - out_path [default: path to output dir]
  - format [default: cdr]
  - target_topic [default: /pandar_packets]
launch/hesai_offline_bag_pcd.xml
- - output_pcd [default: true]
  - output_rosbag [default: true]
  - forward_packets_to_rosbag [default: false]
  - sensor_model
  - lidar_parameter_file [default: $(find-pkg-share nebula_hesai)/config/$(var sensor_model).param.yaml]
  - out_num [default: 0]
  - skip_num [default: 0]
  - bag_path
  - input_topic [default: /pandar_packets]
  - output_topic [default: /pandar_points]
  - out_path
  - storage_id [default: sqlite3]
  - format [default: cdr]
  - only_xyz [default: true]

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