Class nebula::drivers::HesaiHwInterface

ClassList > nebula > drivers > HesaiHwInterface

Hardware interface of hesai driver.

#include <hesai_hw_interface.hpp>

Public Functions

Type	Name
HesaiStatus	CheckAndSetConfig (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, HesaiConfig hesai_config) Checking the current settings and changing the difference point.
HesaiStatus	CheckAndSetConfig (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, HesaiLidarRangeAll hesai_lidar_range_all) Checking the current settings and changing the difference point.
HesaiStatus	CheckAndSetConfig () Checking the current settings and changing the difference point.
Status	FinalizeTcpDriver () Closes the TcpDriver and related resources.
Status	GetCalibrationConfiguration (CalibrationConfigurationBase & calibration_configuration) Printing calibration configuration.
HesaiConfig	GetConfig () Getting data with PTC_COMMAND_GET_CONFIG_INFO.
std::shared_ptr< boost::asio::io_context >	GetIOContext () GetIO Context.
HesaiInventory	GetInventory () Getting data with PTC_COMMAND_GET_INVENTORY_INFO.
std::vector< uint8_t >	GetLidarCalibrationBytes () Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
std::string	GetLidarCalibrationString () Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
HesaiLidarMonitor	GetLidarMonitor () Getting data with PTC_COMMAND_LIDAR_MONITOR.
HesaiStatus	GetLidarMonitorAsyncHttp (std::shared_ptr< boost::asio::io_context > ctx, std::function< void(const std::string &str)> str_callback) Getting lidar_monitor via HTTP API.
HesaiStatus	GetLidarMonitorAsyncHttp (std::function< void(const std::string &str)> str_callback) Getting lidar_monitor via HTTP API.
HesaiLidarRangeAll	GetLidarRange () Getting values with PTC_COMMAND_GET_LIDAR_RANGE.
HesaiLidarStatus	GetLidarStatus () Getting data with PTC_COMMAND_GET_LIDAR_STATUS.
HesaiPtpConfig	GetPtpConfig () Getting data with PTC_COMMAND_GET_PTP_CONFIG.
HesaiPtpDiagGrandmaster	GetPtpDiagGrandmaster () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)
HesaiPtpDiagPort	GetPtpDiagPort () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)
HesaiPtpDiagStatus	GetPtpDiagStatus () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)
HesaiPtpDiagTime	GetPtpDiagTime () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)
Status	GetSensorConfiguration (const SensorConfigurationBase & sensor_configuration) Printing sensor configuration.
	HesaiHwInterface () Constructor.
void	IOContextRun () Call run() of IO Context.
Status	InitializeTcpDriver () Initializing tcp_driver for TCP communication.
int	NebulaModelToHesaiModelNo (nebula::drivers::SensorModel model) Convert to model in Hesai protocol from nebula::drivers::SensorModel.
boost::property_tree::ptree	ParseJson (const std::string & str) Parsing json string to property_tree.
void	ReceiveSensorPacketCallback (std::vector< uint8_t > & buffer) Callback function to receive the Cloud Packet data from the UDP Driver.
Status	RegisterScanCallback (std::function< void(std::vector< uint8_t > &)> scan_callback) Registering callback for PandarScan.
Status	SendReset () Sending command with PTC_COMMAND_RESET.
Status	SensorInterfaceStart () Starting the interface that handles UDP streams.
Status	SensorInterfaceStop () Function for stopping the interface that handles UDP streams.
Status	SetClockSource (int clock_source)
Status	SetControlPort (int ip_1, int ip_2, int ip_3, int ip_4, int mask_1, int mask_2, int mask_3, int mask_4, int gateway_1, int gateway_2, int gateway_3, int gateway_4, int vlan_flg, int vlan_id) Setting IP with PTC_COMMAND_SET_CONTROL_PORT.
Status	SetDestinationIp (int dest_ip_1, int dest_ip_2, int dest_ip_3, int dest_ip_4, int port, int gps_port) Setting IP with PTC_COMMAND_SET_DESTINATION_IP.
Status	SetLidarRange (int method, std::vector< unsigned char > data) Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
Status	SetLidarRange (int start, int end) Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
void	SetLogger (std::shared_ptr< rclcpp::Logger > node) Setting rclcpp::Logger.
Status	SetPtpConfig (int profile, int domain, int network, int switch_type, int logAnnounceInterval=1, int logSyncInterval=1, int logMinDelayReqInterval=0) Setting values with PTC_COMMAND_SET_PTP_CONFIG.
HesaiStatus	SetPtpConfigSyncHttp (std::shared_ptr< boost::asio::io_context > ctx, int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
HesaiStatus	SetPtpConfigSyncHttp (int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
Status	SetReturnMode (int return_mode) Setting mode with PTC_COMMAND_SET_RETURN_MODE.
Status	SetRotDir (int mode) Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.
Status	SetSensorConfiguration (std::shared_ptr< const SensorConfigurationBase > sensor_configuration) Setting sensor configuration.
Status	SetSpinRate (uint16_t rpm) Setting value with PTC_COMMAND_SET_SPIN_RATE.
HesaiStatus	SetSpinSpeedAsyncHttp (std::shared_ptr< boost::asio::io_context > ctx, uint16_t rpm) Setting spin_speed via HTTP API.
HesaiStatus	SetSpinSpeedAsyncHttp (uint16_t rpm) Setting spin_speed via HTTP API.
Status	SetStandbyMode (int standby_mode) Setting mode with PTC_COMMAND_SET_STANDBY_MODE.
Status	SetSyncAngle (int sync_angle, int angle) Setting value with PTC_COMMAND_SET_SYNC_ANGLE.
HesaiStatus	SetSyncAngleSyncHttp (std::shared_ptr< boost::asio::io_context > ctx, int enable, int angle)
HesaiStatus	SetSyncAngleSyncHttp (int enable, int angle)
void	SetTargetModel (int model) Set target model number (for proper use of HTTP and TCP according to the support of the target model)
void	SetTargetModel (nebula::drivers::SensorModel model) Set target model number (for proper use of HTTP and TCP according to the support of the target model)
Status	SetTriggerMethod (int trigger_method) Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.
bool	UseHttpGetLidarMonitor (int model) Whether to use HTTP for getting LidarMonitor.
bool	UseHttpGetLidarMonitor () Whether to use HTTP for getting LidarMonitor.
bool	UseHttpSetSpinRate (int model) Whether to use HTTP for setting SpinRate.
bool	UseHttpSetSpinRate () Whether to use HTTP for setting SpinRate.
Status	checkAndSetLidarRange (const HesaiCalibrationConfigurationBase & calibration) Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.
	~HesaiHwInterface () Destructor.

Public Functions Documentation

function CheckAndSetConfig [1/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    HesaiConfig hesai_config
)

Parameters:

sensor_configuration Current SensorConfiguration
hesai_config Current HesaiConfig

Returns:

Resulting status

function CheckAndSetConfig [2/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    HesaiLidarRangeAll hesai_lidar_range_all
)

Parameters:

sensor_configuration Current SensorConfiguration
hesai_lidar_range_all Current HesaiLidarRangeAll

Returns:

Resulting status

function CheckAndSetConfig [3/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::CheckAndSetConfig ()

Returns:

Resulting status

function FinalizeTcpDriver

Closes the TcpDriver and related resources.

Status nebula::drivers::HesaiHwInterface::FinalizeTcpDriver ()

Returns:

Status result

function GetCalibrationConfiguration

Printing calibration configuration.

Status nebula::drivers::HesaiHwInterface::GetCalibrationConfiguration (
    CalibrationConfigurationBase & calibration_configuration
)

Parameters:

calibration_configuration CalibrationConfiguration for the checking

Returns:

Resulting status

function GetConfig

Getting data with PTC_COMMAND_GET_CONFIG_INFO.

HesaiConfig nebula::drivers::HesaiHwInterface::GetConfig ()

Returns:

Resulting status

function GetIOContext

GetIO Context.

std::shared_ptr< boost::asio::io_context > nebula::drivers::HesaiHwInterface::GetIOContext ()

Returns:

IO Context

function GetInventory

Getting data with PTC_COMMAND_GET_INVENTORY_INFO.

HesaiInventory nebula::drivers::HesaiHwInterface::GetInventory ()

Returns:

Resulting status

function GetLidarCalibrationBytes

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::vector< uint8_t > nebula::drivers::HesaiHwInterface::GetLidarCalibrationBytes ()

Returns:

Resulting status

function GetLidarCalibrationString

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::string nebula::drivers::HesaiHwInterface::GetLidarCalibrationString ()

Returns:

Resulting status

function GetLidarMonitor

Getting data with PTC_COMMAND_LIDAR_MONITOR.

HesaiLidarMonitor nebula::drivers::HesaiHwInterface::GetLidarMonitor ()

Returns:

Resulting status

function GetLidarMonitorAsyncHttp [1/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::GetLidarMonitorAsyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    std::function< void(const std::string &str)> str_callback
)

Parameters:

ctx IO Context
str_callback Callback function for received string

Returns:

Resulting status

function GetLidarMonitorAsyncHttp [2/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::GetLidarMonitorAsyncHttp (
    std::function< void(const std::string &str)> str_callback
)

Parameters:

str_callback Callback function for received string

Returns:

Resulting status

function GetLidarRange

Getting values with PTC_COMMAND_GET_LIDAR_RANGE.

HesaiLidarRangeAll nebula::drivers::HesaiHwInterface::GetLidarRange ()

Returns:

Resulting status

function GetLidarStatus

Getting data with PTC_COMMAND_GET_LIDAR_STATUS.

HesaiLidarStatus nebula::drivers::HesaiHwInterface::GetLidarStatus ()

Returns:

Resulting status

function GetPtpConfig

Getting data with PTC_COMMAND_GET_PTP_CONFIG.

HesaiPtpConfig nebula::drivers::HesaiHwInterface::GetPtpConfig ()

Returns:

Resulting status

function GetPtpDiagGrandmaster

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)

HesaiPtpDiagGrandmaster nebula::drivers::HesaiHwInterface::GetPtpDiagGrandmaster ()

Returns:

Resulting status

function GetPtpDiagPort

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)

HesaiPtpDiagPort nebula::drivers::HesaiHwInterface::GetPtpDiagPort ()

Returns:

Resulting status

function GetPtpDiagStatus

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)

HesaiPtpDiagStatus nebula::drivers::HesaiHwInterface::GetPtpDiagStatus ()

Returns:

Resulting status

function GetPtpDiagTime

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)

HesaiPtpDiagTime nebula::drivers::HesaiHwInterface::GetPtpDiagTime ()

Returns:

Resulting status

function GetSensorConfiguration

Printing sensor configuration.

Status nebula::drivers::HesaiHwInterface::GetSensorConfiguration (
    const SensorConfigurationBase & sensor_configuration
)

Parameters:

sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function HesaiHwInterface

nebula::drivers::HesaiHwInterface::HesaiHwInterface ()

function IOContextRun

void nebula::drivers::HesaiHwInterface::IOContextRun ()

function InitializeTcpDriver

Initializing tcp_driver for TCP communication.

Status nebula::drivers::HesaiHwInterface::InitializeTcpDriver ()

Parameters:

setup_sensor Whether to also initialize tcp_driver for sensor configuration

Returns:

Resulting status

function NebulaModelToHesaiModelNo

Convert to model in Hesai protocol from nebula::drivers::SensorModel.

int nebula::drivers::HesaiHwInterface::NebulaModelToHesaiModelNo (
    nebula::drivers::SensorModel model
)

Parameters:

model

Returns:

function ParseJson

Parsing json string to property_tree.

boost::property_tree::ptree nebula::drivers::HesaiHwInterface::ParseJson (
    const std::string & str
)

Parameters:

str JSON string

Returns:

Parsed property_tree

function ReceiveSensorPacketCallback

Callback function to receive the Cloud Packet data from the UDP Driver.

void nebula::drivers::HesaiHwInterface::ReceiveSensorPacketCallback (
    std::vector< uint8_t > & buffer
)

Parameters:

buffer Buffer containing the data received from the UDP socket

function RegisterScanCallback

Registering callback for PandarScan.

Status nebula::drivers::HesaiHwInterface::RegisterScanCallback (
    std::function< void(std::vector< uint8_t > &)> scan_callback
)

Parameters:

scan_callback Callback function

Returns:

Resulting status

function SendReset

Sending command with PTC_COMMAND_RESET.

Status nebula::drivers::HesaiHwInterface::SendReset ()

Returns:

Resulting status

function SensorInterfaceStart

Starting the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::SensorInterfaceStart ()

Returns:

Resulting status

function SensorInterfaceStop

Function for stopping the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::SensorInterfaceStop ()

Returns:

Resulting status

function SetClockSource

Status nebula::drivers::HesaiHwInterface::SetClockSource (
    int clock_source
)

function SetControlPort

Setting IP with PTC_COMMAND_SET_CONTROL_PORT.

Status nebula::drivers::HesaiHwInterface::SetControlPort (
    int ip_1,
    int ip_2,
    int ip_3,
    int ip_4,
    int mask_1,
    int mask_2,
    int mask_3,
    int mask_4,
    int gateway_1,
    int gateway_2,
    int gateway_3,
    int gateway_4,
    int vlan_flg,
    int vlan_id
)

Parameters:

ip_1 Device IP of the 1st byte represents the 1st section
ip_2 Device IP of the 2nd byte represents the 2nd section
ip_3 Device IP of the 3rd byte represents the 3rd section
ip_4 Device IP of the 4th byte represents the 4th section
mask_1 Device subnet mask of the 1st byte represents the 1st section
mask_2 Device subnet mask of the 2nd byte represents the 2nd section
mask_3 Device subnet mask of the 3rd byte represents the 3rd section
mask_4 Device subnet mask of the 4th byte represents the 4th section
gateway_1 Device gateway of the 1st byte represents the 1st section
gateway_2 Device gateway of the 2nd byte represents the 2nd section
gateway_3 Device gateway of the 3rd byte represents the 3rd section
gateway_4 Device gateway of the 4th byte represents the 4th section
vlan_flg VLAN Status
vlan_id VLAN ID

Returns:

Resulting status

function SetDestinationIp

Setting IP with PTC_COMMAND_SET_DESTINATION_IP.

Status nebula::drivers::HesaiHwInterface::SetDestinationIp (
    int dest_ip_1,
    int dest_ip_2,
    int dest_ip_3,
    int dest_ip_4,
    int port,
    int gps_port
)

Parameters:

dest_ip_1 The 1st byte represents the 1st section
dest_ip_2 The 2nd byte represents the 2nd section
dest_ip_3 The 3rd byte represents the 3rd section
dest_ip_4 The 4th byte represents the 4th section
port LiDAR Destination Port
gps_port GPS Destination Port

Returns:

Resulting status

function SetLidarRange [1/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::SetLidarRange (
    int method,
    std::vector< unsigned char > data
)

Parameters:

method Method
data Set data

Returns:

Resulting status

function SetLidarRange [2/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::SetLidarRange (
    int start,
    int end
)

Parameters:

start Start angle
end End angle

Returns:

Resulting status

function SetLogger

Setting rclcpp::Logger.

void nebula::drivers::HesaiHwInterface::SetLogger (
    std::shared_ptr< rclcpp::Logger > node
)

Parameters:

node Logger

function SetPtpConfig

Setting values with PTC_COMMAND_SET_PTP_CONFIG.

Status nebula::drivers::HesaiHwInterface::SetPtpConfig (
    int profile,
    int domain,
    int network,
    int switch_type,
    int logAnnounceInterval=1,
    int logSyncInterval=1,
    int logMinDelayReqInterval=0
)

Parameters:

profile IEEE timing and synchronization standard
domain Domain attribute of the local clock
network Network transport type of 1588v2
switch_type Switch type of 802.1AS Automotive
logAnnounceInterval Time interval between Announce messages, in units of log seconds (default: 1)
logSyncInterval Time interval between Sync messages, in units of log seconds (default: 1)
logMinDelayReqInterval Minimum permitted mean time between Delay_Req messages, in units of log seconds (default: 0)

Returns:

Resulting status

function SetPtpConfigSyncHttp [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetPtpConfigSyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
)

function SetPtpConfigSyncHttp [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetPtpConfigSyncHttp (
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
)

function SetReturnMode

Setting mode with PTC_COMMAND_SET_RETURN_MODE.

Status nebula::drivers::HesaiHwInterface::SetReturnMode (
    int return_mode
)

Parameters:

return_mode Return mode

Returns:

Resulting status

function SetRotDir

Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.

Status nebula::drivers::HesaiHwInterface::SetRotDir (
    int mode
)

Parameters:

mode Rotation of the motor

Returns:

Resulting status

function SetSensorConfiguration

Setting sensor configuration.

Status nebula::drivers::HesaiHwInterface::SetSensorConfiguration (
    std::shared_ptr< const SensorConfigurationBase > sensor_configuration
)

Parameters:

sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function SetSpinRate

Setting value with PTC_COMMAND_SET_SPIN_RATE.

Status nebula::drivers::HesaiHwInterface::SetSpinRate (
    uint16_t rpm
)

Parameters:

rpm Spin rate

Returns:

Resulting status

function SetSpinSpeedAsyncHttp [1/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::SetSpinSpeedAsyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    uint16_t rpm
)

Parameters:

ctx IO Context used
rpm spin_speed (300, 600, 1200)

Returns:

Resulting status

function SetSpinSpeedAsyncHttp [2/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::SetSpinSpeedAsyncHttp (
    uint16_t rpm
)

Parameters:

rpm spin_speed (300, 600, 1200)

Returns:

Resulting status

function SetStandbyMode

Setting mode with PTC_COMMAND_SET_STANDBY_MODE.

Status nebula::drivers::HesaiHwInterface::SetStandbyMode (
    int standby_mode
)

Parameters:

standby_mode Standby mode

Returns:

Resulting status

function SetSyncAngle

Setting value with PTC_COMMAND_SET_SYNC_ANGLE.

Status nebula::drivers::HesaiHwInterface::SetSyncAngle (
    int sync_angle,
    int angle
)

Parameters:

sync_angle Sync angle enable flag
angle Angle value

Returns:

Resulting status

function SetSyncAngleSyncHttp [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetSyncAngleSyncHttp (
    std::shared_ptr< boost::asio::io_context > ctx,
    int enable,
    int angle
)

function SetSyncAngleSyncHttp [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::SetSyncAngleSyncHttp (
    int enable,
    int angle
)

function SetTargetModel [1/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::SetTargetModel (
    int model
)

Parameters:

model Model number

function SetTargetModel [2/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::SetTargetModel (
    nebula::drivers::SensorModel model
)

Parameters:

model Model

function SetTriggerMethod

Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.

Status nebula::drivers::HesaiHwInterface::SetTriggerMethod (
    int trigger_method
)

Parameters:

trigger_method Trigger method

Returns:

Resulting status

function UseHttpGetLidarMonitor [1/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::UseHttpGetLidarMonitor (
    int model
)

Parameters:

model Model number

Returns:

Use HTTP

function UseHttpGetLidarMonitor [2/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::UseHttpGetLidarMonitor ()

Returns:

Use HTTP

function UseHttpSetSpinRate [1/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::UseHttpSetSpinRate (
    int model
)

Parameters:

model Model number

Returns:

Use HTTP

function UseHttpSetSpinRate [2/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::UseHttpSetSpinRate ()

Returns:

Use HTTP

function checkAndSetLidarRange

Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.

Status nebula::drivers::HesaiHwInterface::checkAndSetLidarRange (
    const HesaiCalibrationConfigurationBase & calibration
)

Parameters:

calibration The calibration file of the sensor

Returns:

Status Resulting status of setting the FoV

function ~HesaiHwInterface

nebula::drivers::HesaiHwInterface::~HesaiHwInterface ()

The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp