CHANGELOG
Changelog for package nebula_core_ros
1.0.0 (2026-04-06)
feat(nebula_sample): add sample sensor package as template (#382) * feat(nebula_sample): add sample sensor package as template * feat(nebula_sample): add integration guide * feat(nebula_sample): update license year * chore(nebula_sample): cspell fixes and integration guide clarity * feat(sample_sensor): remove calibration configuration * feat(sample_sensor): package and CMakeLists tidy up * ci(pre-commit): autofix * docs(nebula_sample): document implementation requirements and add vendor-neutral guidance * docs(nebula_sample): add integration guide to mkdocs * ci(pre-commit): allow unsafe yaml tags for mkdocs * docs(sample_sensor): remove duplicate integration guide, modify links and titles * feat(sample_sensor): package and integration guide minor fixes * chore(nebula_sample): fix capitalization in integration guide entry * docs(sample_sensor): make integration guide diagrams visible in dark mode * docs(sample_sensor): remove commented code * docs(sample_sensor): simplify diagrams * ci(pre-commit): autofix * docs(sample_sensor): simplify integration guide * docs(integration_guide): delete unnecessary stylesheets * docs: fix mermaid and drawio errors * docs: fix checklist * chore: remove unsafe argument from check-yaml hook * docs: remove manual table of contents * docs(api): restore C++ API docs for sample * docs(integration): drop redundant divider * docs(integration): align architecture with current driver/wrapper structure * docs(integration): adjust rename checklist to match current patterns * docs(integration): use real UdpSocket API via snippets * docs(integration): recommend util::expected for errors * docs(integration): clarify azimuth wraparound handling * docs(integration): document angle normalization utility * docs(integration): explain logger dependency injection * docs(integration): showcase RateBoundStatus and LivenessMonitor * docs(integration): drop heading numbering * docs(integration): render wrapper example via snippets * docs(nav): move integration guide under contributing * docs(integration): avoid connection-loss log spam * docs(integration): require transparent recovery on disconnect * docs(integration): emphasize RAII for shutdown * docs(integration): focus diagnostics on core helpers * docs(integration): correct offline test to rosbag2 * docs: add pymdown-extensions for tasklists * docs(integration): remove horizontal rules * docs(integration): make startup exceptions optional * chore: remove nebula_common directory * docs: make integration guide more concise and informative * chore: add example cpps to use as snippets in integ guide * chore: better expected docs * chore: nicer sample_common * chore: streamlining changes * refactor(nebula_sample): align wrapper wiring and typed error flow * refactor(nebula_sample_common): type calibration expected errors * refactor(nebula_sample_decoders): streamline decoder stub and error reporting * refactor(nebula_sample_decoders): clarify decode errors and add dummy scan completion * refactor(core): move angle utilities to nebula_core_common * docs: update angle utility snippet paths after core move * fix: address Codex PR review comments * docs: improve formatting and clarity in integration guide * refactor: enhance documentation and structure in sample ROS wrapper and decoder interfaces * docs: enhance integration guide with clearer implementation details and order of operations * chore: address codex review feedback * feat: add diagnostics and error handling to SampleRosWrapper and SampleHwInterface * feat: Make different launch_hw modes mutually explicit * feat: update topic names for point cloud and packet publishing in SampleRosWrapper * docs(sample_sensor): typo and add markdown links * refactor(nebula_sample): minimalist cleanup of core and vendor packages for closeness to main branch * docs(nebula_core): fix minor API inconsistency in subscriber, referenced in integration guide * fix(sample): restore sensor IP filtering and simplify template stubs ——— 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> Co-authored-by: Max SCHMELLER <max.schmeller@tier4.jp>
Contributors: David Wong
0.4.0 (2026-03-27)
chore: remove PCL dependency (#401) * chore: remove all PCL deps from package.xmls * chore: remove PCL from all CMakeLists.txts * chore: remove unused PointXYZICATR * chore: remove pcl from nebula_core * chore: transfer continental point types to new format * add xyz point type * chore: add xyzircaedt to xyz conversion * chore: add pcd I/O * chore: add Nebula PointCloud to PointCloud2 conversion * refactor: remove PCL usage completely * refactor: clean PCD I/O * test: pcd I/O unit tests * chore: update copyright year to 2026 * chore(pcd): handle padding and alignment correctly * perf: make all point types aligned to 16B boundaries * fix(ars548): fix jazzy build failure * fix(continental): more missing header fixes for Jazzy * build: add missing Boost dependency across multiple components * fix: correct headers and call sites for convert_point_… functions ———
Contributors: Max Schmeller
0.3.2 (2026-01-27)
feat: jazzy support (#398) * chore: split build_depends into common file and distro-specific ones * chore: ci only supports one build_depends file, so absorb the common one into each distro * ci: run build-and-test-differential as humble,jazzy matrix * ci: run build-and-test as humble,jazzy matrix * chore: only upload codecov once * docs: remove ignore-errors flag from rosdep * build: allow agnocast dep only on Humble * chore: remove unused ament_index_cpp header * fix: rewrite velodyne calib code to modern yaml-cpp to prevent dangling pointer error * chore: remove unused ament header for all vendors * chore: add compatibility code for serialized_bag_message that works for humble and jazzy * chore: use serialized_bag_message compat functions everywhere a bag_message->time_stamp was being read * fix(jazzy): updated removed timezone names for Ubuntu 24.04 * ci: exclude invalid agnocast/jazzy matrix combo * docs: update mentions of ros distros * chore: use auto in explicit conversions ———
Contributors: Max Schmeller
0.3.1 (2026-01-19)
chore(maintaners): update maintainers in all packages (#385) * chore(maintaners): update maintainers in all packages * chore(maintainers): add authors * chore(maintainers): add author to Continental packages ———
Contributors: David Wong
0.3.0 (2025-12-02)
chore: replace ament_cmake_auto with autoware_cmake (#381) * chore: replace ament_cmake_auto with autoware_cmake in nebula_continental * chore: replace amen_cmake_auto with autoware_cmake in nebula_core * chore: replace ament_cmake_auto with autoware_cmake in nebula_hesai * chore: replace ament_cmake_auto with autoware_cmake in nebula_robosense * chore: replace ament_cmake_auto with autoware_cmake in nebula_velodyne * chore: format CMakeLists.txt * chore: fix incorrect dependency ———
refactor: independent vendor packages (#376) * Refactor: Split nebula_common into base and vendor-specific packages * Refactor: Split nebula_hw_interfaces into base and vendor-specific packages * Refactor nebula_decoders: Create vendor-specific decoder packages (hesai, velodyne, robosense, continental) * Fix duplicate nested directories in decoder packages * Refactor nebula_ros: Create nebula_ros_base package * Refactor nebula_ros: Create nebula_ros_hesai package * Refactor nebula_ros: Create vendor-specific ROS packages (velodyne, robosense, continental) * Add nebula_ros_base_common library for parameter_descriptors * Fix link order for hesai_ros_wrapper * Update remaining include paths in vendor-specific ROS packages * Update launch files to reference vendor-specific packages * Update nebula_ros_base to link Hesai test correctly * Move Hesai functional safety test to nebula_ros_hesai to fix circular dependency * Fix include paths in hw_interfaces_base test * Fix include paths in vendor hw_interfaces packages * Fix decoder base include structure and test paths * Fix include paths in decoder base headers * Add rclcpp dependency to decoder packages * Fix ROS base target export and include paths * Add smoke tests to nebula_ros_base * Fix nebula_examples to use new refactored packages * Fix config file paths and launch file references for all vendor packages - all smoke tests passing * . * .. * Restore Hesai functional safety test resources from deleted commit - Restored test_resources/fusa_codes/ CSV files that were deleted in commit aa7eb7b6 - Moved test resources to nebula_ros_hesai package (they were previously in nebula_ros) - Updated CMakeLists.txt to install test_resources directory - All 20 functional safety tests are now passing * Reorganize schema files: move common files to nebula_ros_base/schema and vendor-specific files to vendor packages - Moved common schema files from nebula_ros_base/schema/sub/ to nebula_ros_base/schema/ - Moved vendor-specific schema files to their respective vendor packages: - lidar_hesai.json -> nebula_ros_hesai/schema/ - lidar_velodyne.json -> nebula_ros_velodyne/schema/ - lidar_robosense.json -> nebula_ros_robosense/schema/ - radar_continental.json -> nebula_ros_continental/schema/ - Updated all schema file references to remove ‘sub/’ prefix - Added installation of common schema files to vendor packages so JSON schema references work - Updated documentation references to use new package paths * Flatten config directory structure: move configs from config/{lidar,radar}/{vendor}/ to config/ - Moved all sensor config files directly into vendor package config/ directories - Updated launch file references to use new flattened paths - Updated nebula_examples launch file to reference nebula_ros_hesai instead of nebula_ros - Removed empty lidar/hesai, lidar/velodyne, lidar/robosense, and radar/continental subdirectories * Fix JSON schema validation using relative paths from schema file location - Added $id fields to common schema files using paths relative to repo root - Updated all $ref references to use relative paths from schema file location: - Common schemas: ../../nebula_ros_base/schema/<file>.json - Vendor schemas: <vendor_file>.json (same directory) - Validation works with –base-uri file://<repo_root>/<vendor>/schema/ - All schema validations pass successfully for all vendor packages * temp: test updated json-schema-check * ci(pre-commit): autofix * temp: fix shortened commit hash * temp: update json schema check ref * temp: final json check version bump * fix(ars548): add missing type attr to diagnostics schema * docs: fix schema table gen * build: remove velodyne-specific stuff from base package * chore: remove accidentally committed sub-repos * refactor: group packages by vendor * refactor: move tests and examples to vendor pkgs, move nebula_launch to nebula meta package, remove nebula_sensor_driver meta package * ci(pre-commit): autofix * build: fixed cmake files * chore: clean up nebula_common * ci(pre-commit): autofix * move to src directory for cleanliness * build: remove superfluous dependencies in CMakeLists and package.xml * ci(pre-commit): autofix * build: fix missing PNG interface lib * build: fix agnocastlib not providing modern cmakle target * chore: rename too-convoluted nebula_ros_base_common to nebula_ros_base * docs: add migration guide to new version in readme * chore: version bump to 0.3.0 * chore: rename nebula_ros to nebula * docs: updater readme to reflect nebula pkg rename * chore: rename nebula_ros_vendor to nebula_vendor * refactor: nebula_module_vendor -> nebula_vendor_module * test: fix issue where sourcing the built project was required for smoke tests to pass * chore: update docs, schemas to new module names * chore: revert unnecessary test_depend * chore: remove erroneous test method instructions * chore: remove now-unused hesai_decoder.hpp ——— Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Kotaro Uetake, Max Schmeller