lidar_integration Namespace Reference

Namespaces
	get_open_port
	lidar_checker
	lidar_launch_description
	point_cloud_mutation_launch_description

Classes
class	Lcm
class	LidarIntegrationBoxListener
	Specialization of the listener for bounding boxes. More...
class	LidarIntegrationListener
class	LidarIntegrationPclListener
	Specialization of the listener for point clouds. More...
class	PointCloudMutationSpooferNode
	Spoofs random point clouds which may or may not be properly formatted. Intended for use with mutation testing. More...
class	Vlp16IntegrationSpoofer

Functions
bool8_t LIDAR_INTEGRATION_PUBLIC	lidar_integration_test (const std::function< void()> &start_test_nodes, const std::function< void()> &stop_test_nodes, const std::vector< std::shared_ptr< Vlp16IntegrationSpoofer >> &udp_spoofers, const std::vector< std::shared_ptr< LidarIntegrationListener >> &listeners, const std::chrono::milliseconds runtime=std::chrono::seconds{10}, const std::vector< rclcpp::Node::SharedPtr > &nodes={})
	Runs a simple integration test: spoofs vlp16 data, runs test nodes, and listener. Normal nodes are run using a single-threaded exuecutor for simplicity. More...

Variables
static constexpr float32_t	MIN_RPM = 300.0F
	rpm min speed More...
static constexpr float32_t	MAX_RPM = 1200.0F
	rpm max speed More...
static constexpr uint32_t	RAY_SIZE = 16U
static constexpr uint16_t	AZIMUTH_ROTATION_RESOLUTION = 36000U
	resolution of azimuth angle: number of points in a full rotation More...
static constexpr float32_t	DEG2IDX
	conversion from a degree (vlp) to idx More...
static constexpr uint32_t	NUM_INTENSITY_VALUES = 256U
	how intensity is quantized: 1 byte = 256 possible values More...
static constexpr uint16_t	NUM_BLOCKS_PER_PACKET = 12U
static constexpr uint16_t	NUM_POINTS_PER_BLOCK = 32U
	number of points stored in a data block More...
static constexpr float32_t	FIRE_SEQ_OFFSET_US = 55.296F
	full (16 point) fire sequence takes this long to cycle More...
static constexpr float32_t	FIRE_DURATION_US = 2.304F
	one laser fires for this long More...

Function Documentation

lidar_integration_test()

bool8_t lidar_integration::lidar_integration_test	(	const std::function< void()> &	start_test_nodes,
		const std::function< void()> &	stop_test_nodes,
		const std::vector< std::shared_ptr< Vlp16IntegrationSpoofer >> &	udp_spoofers,
		const std::vector< std::shared_ptr< LidarIntegrationListener >> &	listeners,
		const std::chrono::milliseconds	runtime = std::chrono::seconds{10},
		const std::vector< rclcpp::Node::SharedPtr > &	nodes = {}
	)

Runs a simple integration test: spoofs vlp16 data, runs test nodes, and listener. Normal nodes are run using a single-threaded exuecutor for simplicity.

Returns

True if frequency and size conditions of listener are satisfied

Parameters

[in]	start_test_nodes	Function to start the nodes to be tested
[in]	stop_test_nodes	Function to stop the nodes to be tested
[in]	udp_spoofers	The vlp16 spoofers to run, appropriately configured for the problem
[in]	listeners	The appropriately configured listeners for the given test case
[in]	runtime	The runtime of the test. Actualy runtime is a bit longer to account for threading etc.
[in]	nodes	Normal nodes to also run during test, included for compatibility, generally not recommended to use. These get registered with a single-threaded executor

Variable Documentation

AZIMUTH_ROTATION_RESOLUTION

constexpr uint16_t lidar_integration::AZIMUTH_ROTATION_RESOLUTION = 36000U

staticconstexpr

resolution of azimuth angle: number of points in a full rotation

DEG2IDX

constexpr float32_t lidar_integration::DEG2IDX

staticconstexpr

Initial value:

=
  static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F

conversion from a degree (vlp) to idx

FIRE_DURATION_US

constexpr float32_t lidar_integration::FIRE_DURATION_US = 2.304F

staticconstexpr

one laser fires for this long

FIRE_SEQ_OFFSET_US

constexpr float32_t lidar_integration::FIRE_SEQ_OFFSET_US = 55.296F

staticconstexpr

full (16 point) fire sequence takes this long to cycle

MAX_RPM

constexpr float32_t lidar_integration::MAX_RPM = 1200.0F

staticconstexpr

rpm max speed

MIN_RPM

constexpr float32_t lidar_integration::MIN_RPM = 300.0F

staticconstexpr

rpm min speed

NUM_BLOCKS_PER_PACKET

constexpr uint16_t lidar_integration::NUM_BLOCKS_PER_PACKET = 12U

staticconstexpr

All of these hardcoded values should remain fixed unless the VLP16 packet spec changes /// number of data blocks per data packet

NUM_INTENSITY_VALUES

constexpr uint32_t lidar_integration::NUM_INTENSITY_VALUES = 256U

staticconstexpr

how intensity is quantized: 1 byte = 256 possible values

NUM_POINTS_PER_BLOCK

constexpr uint16_t lidar_integration::NUM_POINTS_PER_BLOCK = 32U

staticconstexpr

number of points stored in a data block

RAY_SIZE

constexpr uint32_t lidar_integration::RAY_SIZE = 16U

staticconstexpr