CHANGELOG
Changelog for package nebula_robosense
1.0.0 (2026-04-06)
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 ———
feat(nebula_core): remove transport drivers dependency, replace with local implementations (#386) * feat(nebula_core): tcp and can interfaces * feature(nebula_core): replace transport drivers tcp and can with local implementations * fix(nebula_core): address review comments * fix(nebula_core): handling potential race condition in http client * style(velodyne): remove dead code from http request logic * refactor(nebula_core): unify CAN socket errors with socket_utils.hpp * fix(nebula_core): throw exception for partial CAN FD reads instead of silent failure * docs(nebula_core): document chunked encoding limitation in HttpClient * style(nebula_core): remove outdated comment in tcp.hpp * style(robosense): remove unused array include * ci(pre-commit): autofix * fix(nebula_core): compilation error for CAN unit test * fix(nebula_core): update the build dependencies * chore(nebula_core): cspell for canfd * fix(hesai_hw_interface): re-implement missing functions * fix(continental_hw_interfaces): re-implement missing functions and bus time handling * refactor(connections): refactored common connection logic into socket_utils * fix(hesai): improve robust initialization and clean comments * perf(robosense): optimize packet callback to use swap data to avoid copy * ci(pre-commit): autofix * feat(core): chunked encoding support and connection docs * fix(hesai): non-const vector references * refactor(continental): remove uneccesary rclcpp dependencies * test(core): update unit tests and increase coverage * feat(nebula_core_hw_interfaces): robustness and timestamp fixes for sockets - Catch unhandled SocketError exceptions in TCP/UDP receiver threads - Enable hardware timestamping in async CAN receiver by using recvmsg - Update CanSocket callback signature to include RxMetadata - Add unit test for async CAN timestamp verification * refactor(nebula_core_hw_interfaces): socket cleanup and code quality improvements * ci(pre-commit): autofix * refactor(nebula_core_hw_interfaces): move CAN filter parsing to can.hpp * refactor(nebula): rename driver to socket in members and methods * fix(nebula_continental): restore missing dependencies and fix header extensions * refactor(nebula): fix build dependencies and remove redundant wrapper * refactor(nebula_core_hw_interfaces): remove close() from socket classes * refactor(nebula_core_hw_interfaces): enforce strict RAII for TcpSocket * refactor(connections): enforce best practices for Sockets - refactor(socket_utils): return expected from to_string - feat(tcp): add timeout to receive - refactor(tcp): enforce strict error handling (throw on close) * fix(tcp): handle partial sends and fix receive() docstring * fix(udp): add port check to sender filter validation * fix(http_client): prevent use-after-free by unsubscribing before return * fix(connections): restructure move constructors to avoid UB * fix(socket_utils): handle EINTR in is_socket_ready() * refactor(can): log warning on invalid filter parsing * fix(can): enable proper CAN FD support and improve error handling * refactor(http_client): fix O(N^2) parsing, header case-sensitivity, and connection logic * refactor(socket_utils): fix polling bug and modernize socket handling * refactor(tcp): fix stability bugs (EINTR, SIGPIPE), concurrency safety, and callback performance * refactor(udp): stability (EINTR), optimize hot loop (allocation/construction), and metrics * refactor(http): robust parsing, chunk overflow safety, and connection close latency fix * test(socket): add invalid IP handling tests for TcpSocket and UdpSocket * test(socket): add invalid input tests for HttpClient and CanSocket * test(socket): add Endpoint conversion and error handling tests for socket_utils * test(socket): add Endpoint conversion and error handling tests for socket_utils * fix(can): handle EINTR in recvmsg and cleanup comments * fix(tcp): cleanup error handling comments * style(can): add cspell ignore for TIMESTAMPNS * style(can): apply clang-format * feat(hesai): restore missing HTTP implementations for PTP and Sync Angle * fix(nebula_continental): correct message_filters header extensions * fix(nebula_core_hw_interfaces): add bounds checking for CAN FD frame reception * fix(nebula_core_hw_interfaces): improve CAN FD frame validation and type safety * fix(nebula_core_hw_interfaces): increase socket robustness to prevent TCP hanging on initialization, improve error handling * test(nebula_core_hw_interfaces): test edge-cases for socket connections, and add mock server for CAN unit testing * test(hw_interfaces): add unit tests for new socket implementations in each sensor hw interface * fix(hesai): reset tcp socket on ptc protocol errors to prevent desynchronization * fix(hesai): correct HTTP commands * build(ars548): remove message_filters as they’re not used in the code * build: also remove deps from jazzy repos * chore(udp): trim implementation changes to bare minimum * ci(pre-commit): autofix * chore(udp): remove unused poll_fd_ * chore(socket_utils): small lint fixes * fix(socket_utils): revert default events in is_socket_ready that can cause recvmsg to fail * chore(tcp): move receive function to more visible spot * chore(tcp): lint cleanups, remove catch-all try block * refactor(velodyne_hw_interface): remove unused HTTP client driver method and include * fix(tcp): avoid throwing exceptions in receive thread * chore: small test_socket_utils tweaks * chore(tcp): remove async API due to tedious error handling * test(tcp): remove async TCP related tests * refactor(http): simplify by using synchronous TCP API * chore(hesai_hw_interface): catch HTTP errors, log error, and return status code * test(http_client): fix exception handling validation in error condition tests * chore: update copyright year to 2026 for new files * test(http_client): apply review suggestions Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> ——— Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max SCHMELLER <max.schmeller@tier4.jp> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Contributors: David Wong, 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 ———
chore: flatten nebula_<vendor>_common include structures (#380)
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