feat(hesai): add high resolution mode setting for Pandar128 and OT128

[mojomex]

PR Type

• New Feature

Related Links

TIER IV INTERNAL LINK -- Jira ticket

This PR depends on the following PR being merged first:

• fix(hesai_hw_interface): add error handling #131

Description

This PR adds a launch parameter hires_mode (boolean) which is used to enable/disable high resolution mode for Pandar128 and OT128.
The hardware interface has been extended to send the corresponding PTC commands.

Standard Mode	High Resolution Mode

Review Procedure

Test with Pandar128 and OT128 and confirm that horizontal resolution changes like in the images above:

• launching with hires_mode:=false
• launching with hires_mode:=true
• running ros2 param set /hesai_hw_driver hires_mode true during runtime
• running ros2 param set /hesai_hw_driver hires_mode false during runtime

Remarks

🟡 I currently do not have a Pandar128 to test with, and also no access to its TCP documentation. It still needs to be confirmed if the command is the same as for OT128.

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[mojomex]

🟢 Evaluation

🟢 OT128

Tested:

• starting Nebula with hires_mode:=false, then setting it to true, false, true via ros2 param set /hesai_hw_driver hires_mode true/false

• starting Nebula with hires_mode:=true, then setting it to false, true, falseviaros2 param set /hesai_hw_driver hires_mode true/false`

• Confirmed TCP communication is correct using Wireshark and other tools.

• Confirmed visually that hires mode is indeed changed

🟢 Pandar128

Not tested yet, but after consulting with @drwnz, merging is still fine.

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0% with 240 lines in your changes are missing coverage. Please review.

Project coverage is 10.95%. Comparing base (eb5e1b7) to head (55ce98a).
Report is 4 commits behind head on main.

Files	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	165 Missing ⚠️
.../nebula_hw_interfaces_hesai/hesai_cmd_response.hpp	0.00%	52 Missing ⚠️
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00%	12 Missing ⚠️
...ula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp	0.00%	10 Missing ⚠️
.../nebula_hw_interfaces_hesai/hesai_hw_interface.hpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff            @@
##            main     #142      +/-   ##
=========================================
+ Coverage   4.84%   10.95%   +6.10%     
=========================================
  Files        249       81     -168     
  Lines      19210     9424    -9786     
  Branches    1075     1203     +128     
=========================================
+ Hits         931     1032     +101     
+ Misses     17579     7536   -10043     
- Partials     700      856     +156     

Flag	Coverage Δ
differential	10.95% <0.00%> (?)
total	?

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