chore: added log messages to warn the user against using corner radar…

…s (it should only be for evaluation purposes)

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp

@@ -345,6 +345,12 @@ bool ContinentalARS548Decoder::parse_objects_list_packet(
     object_msg.orientation = object.position_orientation.value();
     object_msg.orientation_std = object.position_orientation_std.value();
 
+    // NOTE(knzo25): In the radar firmware used when developing this driver,
+    // corner radars are not supported. We can partially address this,
+    // but the coordinates look only spatially correct (not the dynamics).
+    // so its use is the responsibility of the user.
+    // Corner radars are expected to be supported in a new firmware version,
+    // but this is not yet confirmed.
     if (
       std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
       std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {

nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp

@@ -191,6 +191,23 @@ void ContinentalARS548DecoderWrapper::object_list_callback(
 void ContinentalARS548DecoderWrapper::sensor_status_callback(
   const drivers::continental_ars548::ContinentalARS548Status & sensor_status)
 {
+  // NOTE(knzo25): In the radar firmware used when developing this driver,
+  // corner radars are not supported. We can partially address this,
+  // but the coordinates look only spatially correct (not the dynamics).
+  // so its use is the responsibility of the user.
+  // Corner radars are expected to be supported in a new firmware version,
+  // but this is not yet confirmed.
+  if (
+    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
+    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+    RCLCPP_WARN_THROTTLE(
+      logger_, *rclcpp::Clock::now(), 5000,
+      "This radar has been configured as a corner radar, which is not supported by the sensor. We "
+      "can partially address this, but the coordinates look only spatially correct (not the "
+      "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "
+      "supported in a new firmware version, but this is not yet confirmed.");
+  }
+
   diagnostic_msgs::msg::DiagnosticArray diagnostic_array_msg;
   diagnostic_array_msg.header.stamp.sec = sensor_status.timestamp_seconds;
   diagnostic_array_msg.header.stamp.nanosec = sensor_status.timestamp_nanoseconds;

nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp

@@ -215,6 +215,23 @@ void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
     pitch = rpy.y;
   }
 
+  // NOTE(knzo25): In the radar firmware used when developing this driver,
+  // corner radars are not supported. We can partially address this,
+  // but the coordinates look only spatially correct (not the dynamics).
+  // so its use is the responsibility of the user.
+  // Corner radars are expected to be supported in a new firmware version,
+  // but this is not yet confirmed.
+  if (
+    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
+    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+    RCLCPP_WARN(
+      logger_, *rclcpp::Clock::now(), 5000,
+      "This radar has been configured as a corner radar, which is not supported by the sensor. We "
+      "can partially address this, but the coordinates look only spatially correct (not the "
+      "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "
+      "supported in a new firmware version, but this is not yet confirmed.");
+  }
+
   auto result = hw_interface_->set_sensor_mounting(
     longitudinal, lateral, vertical, yaw, pitch, request->plug_orientation);