CHANGELOG
Changelog for package nebula_hesai_decoders
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 ———
Contributors: Max Schmeller
0.3.2 (2026-01-27)
0.3.1 (2026-01-19)
fix(hesai): fix scan cutting for cut_angle != cloud_max_angle configurations (#383) * chore: estable encoder/spatial terminology * chore: better type inference for normalize_angle * fix: change angle handling to integer math to eliminate rounding errors * fix: properly fixed scan cutting * feat: properly isolated scan cutter, works now * fix: add blockage mask publishing back in * test: scan cutter unit tests * fix: fixed most failing tests * chore: add validation in scan_cutter constructor * docs: support drawio, mathjax * docs: basic scan cutting state machine logic * docs: wording * fix: implement state machine based cutter * test: fix invalidly configured pandar64 unit test * fix: reset decoder when rosbag loops * fix: fix wrong correction term for at128 * fix: re-introduce decode perf counters * perf: faster normalize_angle for integral types * perf: prevent runtime type conversion in deg2rad/rad2deg * chore: make NebulaPoint aligned like the rest of the point types * chore: random small fixes * perf: faster angle normalization * perf: avoid re-computing fov states * chore: make angle_is_between inline for good measure * chore: update profiling scripts to work with latest nebula * test: add angle unit tests * fix: fix normalize_angle for negative ints * build: add angles test to cmake * chore: hide uv.lock changes in diff * chore: remove unused scan cutter param * chore: reduce number of states in CutAtFovEnd FSM to 6 * chore: simplify scan cutter tests * chore: update docs for simplified fsm * fix: correct channel number for minmax array * fix: fix find_field for AT128 * fix: fix min/max channel-based checks to work when the max-corrected channel has lower index than the min-corrected one * test: allow for float rounding errors around fov bounds * chore: remove unused code * perf: re-introduce early returns in decoder * perf: reintroduce darian luts * test: update decoder ground truths to reflect new scan cutting behavior * chore(cspell): ignore drawio source files * docs: add scan cutting design diagrams, update mkdocs nav * chore: remove residual debug file code * chore: correct comment for 100ms after-cut timestamp check * chore: remove commented-out code * chore: remove uv for now since it’s unrelated to this pr * chore: remove old test folder * chore: allow deg2rad for integer args * fix: change corrections, scan cutting back to float for precision * chore: remove temporary ground truth output code * docs: zensical drawio and latex support * chore: import cmath * chore: fix normalize_angle typing edge case * chore: fix copyright year * fix: calculate fov state correctly when block does not intersect cut * chore: virtual destructor for AngleCorrector * test: add tests for scan cutter initialization * chore: fix cspell * fix(test): fix add_packet() azimuth span accumulation bug The diff was computed AFTER updating end_azimuth, resulting in diff always being 0. This made azimuth_span_accumulated never grow, rendering the resilience test assertions (overlaps_itself, get_angular_span) ineffective. Fix: compute diff before updating end_azimuth. * fix(hesai): fix did_scan_complete flag never being set After refactoring scan completion to use ScanCutter callbacks, the did_scan_complete flag was left as a local variable initialized to false and never updated. Fix: - Add did_scan_complete_ member variable - Set it to true in on_scan_complete() callback - Reset it at the start of each unpack() call - Use it when populating PacketMetadata Also fix callback_time_ns_ to accumulate (+=) instead of overwrite (=) in case multiple scans complete within a single packet. * fix(hesai): use current block for timestamp reset calculation Previously, on_set_timestamp() always used block 0 for the point time offset calculation. This was incorrect because the timestamp reset happens at the block where the reset angle was detected, not at block 0. Using block 0 could shift scan_timestamp_ns earlier than the first point of the new scan by up to the packet span (for sensors with negative per-point offsets like Pandar64). Fix: Track current_block_id_ and use it in on_set_timestamp() to get the correct earliest point time offset for the actual reset block. ———
test: add angle unit tests (#387) * test: add angle unit tests Cherry-picked from fix/scan-cutting-rounding-error branch. Add unit tests for normalize_angle and angle_is_between functions. * chore: clarify angle_is_between behavior with doc comments and clearer code * test: update assumptions for some tests, add new edge cases * fix: fixed a case where overlap region becomes empty/duplicated when all correction terms are zero * test: regenerate XT16 ground truth after overlap region fix ———
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, Max Schmeller
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