From 0d252f34bbbfefcb027a291f2614d51901a20381 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 28 Mar 2024 20:10:51 +0900
Subject: [PATCH 001/122] fix(hesai_hw_interface): add error handling

* check PTC command error codes, throw exception if necessary
* perform size checks before parsing responses
* emit errors on too-large payload size
---
 .../include/nebula_common/util/expected.hpp   |  53 ++
 .../hesai_cmd_response.hpp                    | 401 ++++++------
 .../hesai_hw_interface.hpp                    |  28 +-
 .../hesai_hw_interface.cpp                    | 587 +++++++-----------
 .../hesai/hesai_hw_monitor_ros_wrapper.hpp    |   1 +
 .../hesai/hesai_hw_monitor_ros_wrapper.cpp    |  20 +-
 6 files changed, 509 insertions(+), 581 deletions(-)
 create mode 100644 nebula_common/include/nebula_common/util/expected.hpp

diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
new file mode 100644
index 000000000..4fc35b3fa
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <variant>
+
+namespace nebula
+{
+namespace util
+{
+
+/// @brief A poor man's backport of C++23's std::expected.
+///
+/// At any given time, holds exactly one of: expected value, or error value.
+/// Provides functions for easy exception handling.
+///
+/// More info here: https://en.cppreference.com/w/cpp/utility/expected
+///
+/// @tparam T Type of the expected value
+/// @tparam E Error type
+template <typename T, typename E>
+struct expected
+{
+  bool has_value() { return std::holds_alternative<T>(value_); }
+
+  T value() { return std::get<T>(value_); }
+
+  T value_or(const T & default_)
+  {
+    if (has_value()) return value();
+    return default_;
+  }
+
+  T value_or_throw(const std::string & error_msg) {
+    if (has_value()) return value();
+    throw std::runtime_error(error_msg);
+  }
+
+  E error() { return std::get<E>(value_); }
+
+  E error_or(const E & default_) { 
+    if (!has_value()) return error();
+    return default_; 
+    }
+
+  expected(const T & value) { value_ = value; }
+
+  expected(const E & error) { value_ = error; }
+
+private:
+  std::variant<T, E> value_;
+};
+
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index 21989bf9b..4af74426c 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -2,18 +2,27 @@
 #define HESAI_CMD_RESPONSE_HPP
 
 #include <boost/algorithm/string/join.hpp>
+#include <boost/endian/buffers.hpp>
 #include <boost/format.hpp>
 
+#include <array>
+#include <cstdint>
 #include <ostream>
+#include <string>
+
+using namespace boost::endian;
 
 namespace nebula
 {
+
+#pragma pack(push, 1)
+
 /// @brief PTP STATUS struct of PTC_COMMAND_PTP_DIAGNOSTICS
 struct HesaiPtpDiagStatus
 {
-  long long master_offset;
-  int ptp_state;
-  int elapsed_millisec;
+  big_int64_buf_t master_offset;
+  big_int32_buf_t ptp_state;
+  big_int32_buf_t elapsed_millisec;
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagStatus const & arg)
   {
@@ -30,35 +39,20 @@ struct HesaiPtpDiagStatus
 /// @brief PTP TLV PORT_DATA_SET struct of PTC_COMMAND_PTP_DIAGNOSTICS
 struct HesaiPtpDiagPort
 {
-  std::vector<char> portIdentity = std::vector<char>(10);
-  int portState;
-  int logMinDelayReqInterval;
-  long long peerMeanPathDelay;
-  int logAnnounceInterval;
-  int announceReceiptTimeout;
-  int logSyncInterval;
-  int delayMechanism;
-  int logMinPdelayReqInterval;
-  int versionNumber;
-
-  HesaiPtpDiagPort() {}
-  HesaiPtpDiagPort(const HesaiPtpDiagPort & arg)
-  {
-    std::copy(arg.portIdentity.begin(), arg.portIdentity.end(), portIdentity.begin());
-    portState = arg.portState;
-    logMinDelayReqInterval = arg.logMinDelayReqInterval;
-    peerMeanPathDelay = arg.peerMeanPathDelay;
-    logAnnounceInterval = arg.logAnnounceInterval;
-    announceReceiptTimeout = arg.announceReceiptTimeout;
-    logSyncInterval = arg.logSyncInterval;
-    delayMechanism = arg.delayMechanism;
-    logMinPdelayReqInterval = arg.logMinPdelayReqInterval;
-    versionNumber = arg.versionNumber;
-  }
+  uint8_t portIdentity[10];
+  big_int32_buf_t portState;
+  big_int32_buf_t logMinDelayReqInterval;
+  big_int64_buf_t peerMeanPathDelay;
+  big_int32_buf_t logAnnounceInterval;
+  big_int32_buf_t announceReceiptTimeout;
+  big_int32_buf_t logSyncInterval;
+  big_int32_buf_t delayMechanism;
+  big_int32_buf_t logMinPdelayReqInterval;
+  big_int32_buf_t versionNumber;
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagPort const & arg)
   {
-    os << "portIdentity: " << std::string(arg.portIdentity.begin(), arg.portIdentity.end());
+    os << "portIdentity: " << std::string(std::begin(arg.portIdentity), std::end(arg.portIdentity));
     os << ", ";
     os << "portState: " << arg.portState;
     os << ", ";
@@ -85,28 +79,14 @@ struct HesaiPtpDiagPort
 /// @brief LinuxPTP TLV TIME_STATUS_NP struct of PTC_COMMAND_PTP_DIAGNOSTICS
 struct HesaiPtpDiagTime
 {
-  long long master_offset;
-  long long ingress_time;
-  int cumulativeScaledRateOffset;
-  int scaledLastGmPhaseChange;
-  int gmTimeBaseIndicator;
-  std::vector<char> lastGmPhaseChange = std::vector<char>(12);
-  int gmPresent;
-  long long gmIdentity;
-
-  HesaiPtpDiagTime() {}
-  HesaiPtpDiagTime(const HesaiPtpDiagTime & arg)
-  {
-    master_offset = arg.master_offset;
-    ingress_time = arg.ingress_time;
-    cumulativeScaledRateOffset = arg.cumulativeScaledRateOffset;
-    scaledLastGmPhaseChange = arg.scaledLastGmPhaseChange;
-    gmTimeBaseIndicator = arg.gmTimeBaseIndicator;
-    std::copy(
-      arg.lastGmPhaseChange.begin(), arg.lastGmPhaseChange.end(), lastGmPhaseChange.begin());
-    gmPresent = arg.gmPresent;
-    gmIdentity = arg.gmIdentity;
-  }
+  big_int64_buf_t master_offset;
+  big_int64_buf_t ingress_time;
+  big_int32_buf_t cumulativeScaledRateOffset;
+  big_int32_buf_t scaledLastGmPhaseChange;
+  big_int16_buf_t gmTimeBaseIndicator;
+  uint8_t lastGmPhaseChange[12];
+  big_int32_buf_t gmPresent;
+  big_int64_buf_t gmIdentity;
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagTime const & arg)
   {
@@ -120,8 +100,9 @@ struct HesaiPtpDiagTime
     os << ", ";
     os << "gmTimeBaseIndicator: " << arg.gmTimeBaseIndicator;
     os << ", ";
+    //FIXME: lastGmPhaseChange is a binary number, displaying it as string is incorrect
     os << "lastGmPhaseChange: "
-       << std::string(arg.lastGmPhaseChange.begin(), arg.lastGmPhaseChange.end());
+       << std::string(std::begin(arg.lastGmPhaseChange), std::end(arg.lastGmPhaseChange));
     os << ", ";
     os << "gmPresent: " << arg.gmPresent;
     os << ", ";
@@ -134,20 +115,20 @@ struct HesaiPtpDiagTime
 /// @brief LinuxPTP TLV GRANDMASTER_SETTINGS_NP struct of PTC_COMMAND_PTP_DIAGNOSTICS
 struct HesaiPtpDiagGrandmaster
 {
-  int clockQuality;
-  int utc_offset;
-  int time_flags;
-  int time_source;
+  big_int32_buf_t clockQuality;
+  big_int16_buf_t utc_offset;
+  int8_t time_flags;
+  int8_t time_source;
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagGrandmaster const & arg)
   {
     os << "clockQuality: " << arg.clockQuality;
     os << ", ";
-    os << "utc_offset: " << arg.utc_offset;
+    os << "utc_offset: " << static_cast<int>(arg.utc_offset.value());
     os << ", ";
-    os << "time_flags: " << arg.time_flags;
+    os << "time_flags: " << static_cast<int>(arg.time_flags);
     os << ", ";
-    os << "time_source: " << arg.time_source;
+    os << "time_source: " << static_cast<int>(arg.time_source);
 
     return os;
   }
@@ -156,61 +137,45 @@ struct HesaiPtpDiagGrandmaster
 /// @brief struct of PTC_COMMAND_GET_INVENTORY_INFO
 struct HesaiInventory
 {
-  std::vector<char> sn = std::vector<char>(18);
-  std::vector<char> date_of_manufacture = std::vector<char>(16);
-  std::vector<char> mac = std::vector<char>(6);
-  std::vector<char> sw_ver = std::vector<char>(16);
-  std::vector<char> hw_ver = std::vector<char>(16);
-  std::vector<char> control_fw_ver = std::vector<char>(16);
-  std::vector<char> sensor_fw_ver = std::vector<char>(16);
-  int angle_offset;
-  int model;
-  int motor_type;
-  int num_of_lines;
-  std::vector<unsigned char> reserved = std::vector<unsigned char>(11);
-
-  HesaiInventory() {}
-  HesaiInventory(const HesaiInventory & arg)
-  {
-    std::copy(arg.sn.begin(), arg.sn.end(), sn.begin());
-    std::copy(
-      arg.date_of_manufacture.begin(), arg.date_of_manufacture.end(), date_of_manufacture.begin());
-    std::copy(arg.mac.begin(), arg.mac.end(), mac.begin());
-    std::copy(arg.sw_ver.begin(), arg.sw_ver.end(), sw_ver.begin());
-    std::copy(arg.hw_ver.begin(), arg.hw_ver.end(), hw_ver.begin());
-    std::copy(arg.control_fw_ver.begin(), arg.control_fw_ver.end(), control_fw_ver.begin());
-    std::copy(arg.sensor_fw_ver.begin(), arg.sensor_fw_ver.end(), sensor_fw_ver.begin());
-    angle_offset = arg.angle_offset;
-    model = arg.model;
-    motor_type = arg.motor_type;
-    num_of_lines = arg.num_of_lines;
-    std::copy(arg.reserved.begin(), arg.reserved.end(), reserved.begin());
-  }
+  uint8_t sn[18];
+  uint8_t date_of_manufacture[16];
+  uint8_t mac[6];
+  uint8_t sw_ver[16];
+  uint8_t hw_ver[16];
+  uint8_t control_fw_ver[16];
+  uint8_t sensor_fw_ver[16];
+  big_uint16_buf_t angle_offset;
+  uint8_t model;
+  uint8_t motor_type;
+  uint8_t num_of_lines;
+  uint8_t reserved[11];
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiInventory const & arg)
   {
-    os << "sn: " << std::string(arg.sn.begin(), arg.sn.end());
+    os << "sn: " << std::string(std::begin(arg.sn), std::end(arg.sn));
     os << ", ";
     os << "date_of_manufacture: "
-       << std::string(arg.date_of_manufacture.begin(), arg.date_of_manufacture.end());
+       << std::string(std::begin(arg.date_of_manufacture), std::end(arg.date_of_manufacture));
     os << ", ";
     os << "mac: ";
-    std::stringstream ss;
-    for (long unsigned int i = 0; i < arg.mac.size() - 1; i++) {
-      ss << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.mac[i]) & 0xff)
-         << ":";
+
+    for (size_t i = 0; i < sizeof(arg.mac); i++) {
+      if (i != 0) {
+        os << ':';
+      }
+      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.mac[i]));
     }
-    ss << std::hex << std::setfill('0') << std::setw(2)
-       << (static_cast<int>(arg.mac[arg.mac.size() - 1]) & 0xff);
-    os << ss.str();
+
     os << ", ";
-    os << "sw_ver: " << std::string(arg.sw_ver.begin(), arg.sw_ver.end());
+    os << "sw_ver: " << std::string(std::begin(arg.sw_ver), std::end(arg.sw_ver));
     os << ", ";
-    os << "hw_ver: " << std::string(arg.hw_ver.begin(), arg.hw_ver.end());
+    os << "hw_ver: " << std::string(std::begin(arg.hw_ver), std::end(arg.hw_ver));
     os << ", ";
-    os << "control_fw_ver: " << std::string(arg.control_fw_ver.begin(), arg.control_fw_ver.end());
+    os << "control_fw_ver: "
+       << std::string(std::begin(arg.control_fw_ver), std::end(arg.control_fw_ver));
     os << ", ";
-    os << "sensor_fw_ver: " << std::string(arg.sensor_fw_ver.begin(), arg.sensor_fw_ver.end());
+    os << "sensor_fw_ver: "
+       << std::string(std::begin(arg.sensor_fw_ver), std::end(arg.sensor_fw_ver));
     os << ", ";
     os << "angle_offset: " << arg.angle_offset;
     os << ", ";
@@ -220,12 +185,13 @@ struct HesaiInventory
     os << ", ";
     os << "num_of_lines: " << arg.num_of_lines;
     os << ", ";
-    //      os << "reserved: " << boost::algorithm::join(arg.reserved, ",");
-    os << "reserved: ";
-    for (long unsigned int i = 0; i < arg.reserved.size() - 1; i++) {
-      os << arg.reserved[i] << ",";
+
+    for (size_t i = 0; i < sizeof(arg.reserved); i++) {
+      if (i != 0) {
+        os << ' ';
+      }
+      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
     }
-    os << arg.reserved[arg.reserved.size() - 1];
 
     return os;
   }
@@ -258,7 +224,7 @@ struct HesaiInventory
       case 48:
         return "PandarAT128";
       default:
-        return "Unknown(" + std::to_string(model) + ")";
+        return "Unknown(" + std::to_string(static_cast<int>(model)) + ")";
     }
   }
 };
@@ -266,42 +232,55 @@ struct HesaiInventory
 /// @brief struct of PTC_COMMAND_GET_CONFIG_INFO
 struct HesaiConfig
 {
-  int ipaddr[4];
-  int mask[4];
-  int gateway[4];
-  int dest_ipaddr[4];
-  int dest_LiDAR_udp_port;
-  int dest_gps_udp_port;
-  int spin_rate;
-  int sync;
-  int sync_angle;
-  int start_angle;
-  int stop_angle;
-  int clock_source;
-  int udp_seq;
-  int trigger_method;
-  int return_mode;
-  int standby_mode;
-  int motor_status;
-  int vlan_flag;
-  int vlan_id;
-  int clock_data_fmt;
-  int noise_filtering;
-  int reflectivity_mapping;
-  unsigned char reserved[6];
+  uint8_t ipaddr[4];
+  uint8_t mask[4];
+  uint8_t gateway[4];
+  uint8_t dest_ipaddr[4];
+  big_uint16_buf_t dest_LiDAR_udp_port;
+  big_uint16_buf_t dest_gps_udp_port;
+  big_uint16_buf_t spin_rate;
+  uint8_t sync;
+  big_uint16_buf_t sync_angle;
+  big_uint16_buf_t start_angle;
+  big_uint16_buf_t stop_angle;
+  uint8_t clock_source;
+  uint8_t udp_seq;
+  uint8_t trigger_method;
+  uint8_t return_mode;
+  uint8_t standby_mode;
+  uint8_t motor_status;
+  uint8_t vlan_flag;
+  big_uint16_buf_t vlan_id;
+  uint8_t clock_data_fmt; //FIXME: labeled as gps_nmea_sentence in AT128, OT128 datasheets
+  uint8_t noise_filtering;
+  uint8_t reflectivity_mapping;
+  uint8_t reserved[6];
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiConfig const & arg)
   {
-    os << "ipaddr: " << arg.ipaddr[0] << "." << arg.ipaddr[1] << "." << arg.ipaddr[2] << "."
-       << arg.ipaddr[3];
-    os << ", ";
-    os << "mask: " << arg.mask[0] << "." << arg.mask[1] << "." << arg.mask[2] << "." << arg.mask[3];
-    os << ", ";
-    os << "gateway: " << arg.gateway[0] << "." << arg.gateway[1] << "." << arg.gateway[2] << "."
-       << arg.gateway[3];
-    os << ", ";
-    os << "dest_ipaddr: " << arg.dest_ipaddr[0] << "." << arg.dest_ipaddr[1] << "."
-       << arg.dest_ipaddr[2] << "." << arg.dest_ipaddr[3];
+    os << "ipaddr: " 
+       << static_cast<int>(arg.ipaddr[0]) << "." 
+       << static_cast<int>(arg.ipaddr[1]) << "." 
+       << static_cast<int>(arg.ipaddr[2]) << "." 
+       << static_cast<int>(arg.ipaddr[3]);
+    os << ", ";
+    os << "mask: " 
+       << static_cast<int>(arg.mask[0]) << "." 
+       << static_cast<int>(arg.mask[1]) << "."
+       << static_cast<int>(arg.mask[2]) << "." 
+       << static_cast<int>(arg.mask[3]);
+    os << ", ";
+    os << "gateway: " 
+       << static_cast<int>(arg.gateway[0]) << "." 
+       << static_cast<int>(arg.gateway[1]) << "." 
+       << static_cast<int>(arg.gateway[2]) << "." 
+       << static_cast<int>(arg.gateway[3]);
+    os << ", ";
+    os << "dest_ipaddr: " 
+       << static_cast<int>(arg.dest_ipaddr[0]) << "."
+       << static_cast<int>(arg.dest_ipaddr[1]) << "." 
+       << static_cast<int>(arg.dest_ipaddr[2]) << "."
+       << static_cast<int>(arg.dest_ipaddr[3]);
     os << ", ";
     os << "dest_LiDAR_udp_port: " << arg.dest_LiDAR_udp_port;
     os << ", ";
@@ -339,8 +318,14 @@ struct HesaiConfig
     os << ", ";
     os << "reflectivity_mapping: " << arg.reflectivity_mapping;
     os << ", ";
-    os << "reserved: " << arg.reserved[0] << "," << arg.reserved[1] << "," << arg.reserved[2] << ","
-       << arg.reserved[3] << "," << arg.reserved[4] << "," << arg.reserved[5];
+    os << "reserved: ";
+
+    for (size_t i = 0; i < sizeof(arg.reserved); i++) {
+      if (i != 0) {
+        os << ' ';
+      }
+      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
+    }
 
     return os;
   }
@@ -349,30 +334,15 @@ struct HesaiConfig
 /// @brief struct of PTC_COMMAND_GET_LIDAR_STATUS
 struct HesaiLidarStatus
 {
-  int system_uptime;
-  int motor_speed;
-  //    int temperature[8];
-  std::vector<int> temperature = std::vector<int>(8);
-  int gps_pps_lock;
-  int gps_gprmc_status;
-  int startup_times;
-  int total_operation_time;
-  int ptp_clock_status;
-  std::vector<unsigned char> reserved = std::vector<unsigned char>(5);
-
-  HesaiLidarStatus() {}
-  HesaiLidarStatus(const HesaiLidarStatus & arg)
-  {
-    system_uptime = arg.system_uptime;
-    motor_speed = arg.motor_speed;
-    std::copy(arg.temperature.begin(), arg.temperature.end(), temperature.begin());
-    gps_pps_lock = arg.gps_pps_lock;
-    gps_gprmc_status = arg.gps_gprmc_status;
-    startup_times = arg.startup_times;
-    total_operation_time = arg.total_operation_time;
-    ptp_clock_status = arg.ptp_clock_status;
-    std::copy(arg.reserved.begin(), arg.reserved.end(), reserved.begin());
-  }
+  big_uint32_buf_t system_uptime;
+  big_uint16_buf_t motor_speed;
+  big_int32_buf_t temperature[8];
+  uint8_t gps_pps_lock;
+  uint8_t gps_gprmc_status;
+  big_uint32_buf_t startup_times;
+  big_uint32_buf_t total_operation_time;
+  uint8_t ptp_clock_status;
+  uint8_t reserved[5]; // FIXME: 4 bytes labeled as humidity in OT128 datasheet
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarStatus const & arg)
   {
@@ -381,26 +351,33 @@ struct HesaiLidarStatus
     os << "motor_speed: " << arg.motor_speed;
     os << ", ";
     os << "temperature: ";
-    for (long unsigned int i = 0; i < arg.temperature.size() - 1; i++) {
-      os << arg.temperature[i] << ",";
+
+    for (size_t i = 0; i < sizeof(arg.temperature); i++) {
+      if (i != 0) {
+        os << ',';
+      }
+      os << arg.temperature[i];
     }
-    os << arg.temperature[arg.temperature.size() - 1];
+
     os << ", ";
-    os << "gps_pps_lock: " << arg.gps_pps_lock;
+    os << "gps_pps_lock: " << static_cast<int>(arg.gps_pps_lock);
     os << ", ";
-    os << "gps_gprmc_status: " << arg.gps_gprmc_status;
+    os << "gps_gprmc_status: " << static_cast<int>(arg.gps_gprmc_status);
     os << ", ";
     os << "startup_times: " << arg.startup_times;
     os << ", ";
     os << "total_operation_time: " << arg.total_operation_time;
     os << ", ";
-    os << "ptp_clock_status: " << arg.ptp_clock_status;
+    os << "ptp_clock_status: " << static_cast<int>(arg.ptp_clock_status);
     os << ", ";
     os << "reserved: ";
-    for (long unsigned int i = 0; i < arg.reserved.size() - 1; i++) {
-      os << arg.reserved[i] << ",";
+
+    for (size_t i = 0; i < sizeof(arg.reserved); i++) {
+      if (i != 0) {
+        os << ' ';
+      }
+      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
     }
-    os << arg.reserved[arg.reserved.size() - 1];
 
     return os;
   }
@@ -410,13 +387,10 @@ struct HesaiLidarStatus
     switch (gps_pps_lock) {
       case 1:
         return "Lock";
-        break;
       case 0:
         return "Unlock";
-        break;
       default:
         return "Unknown";
-        break;
     }
   }
   std::string get_str_gps_gprmc_status()
@@ -424,13 +398,10 @@ struct HesaiLidarStatus
     switch (gps_gprmc_status) {
       case 1:
         return "Lock";
-        break;
       case 0:
         return "Unlock";
-        break;
       default:
         return "Unknown";
-        break;
     }
   }
   std::string get_str_ptp_clock_status()
@@ -438,19 +409,14 @@ struct HesaiLidarStatus
     switch (ptp_clock_status) {
       case 0:
         return "free run";
-        break;
       case 1:
         return "tracking";
-        break;
       case 2:
         return "locked";
-        break;
       case 3:
         return "frozen";
-        break;
       default:
         return "Unknown";
-        break;
     }
   }
 };
@@ -458,17 +424,17 @@ struct HesaiLidarStatus
 /// @brief struct of PTC_COMMAND_GET_LIDAR_RANGE
 struct HesaiLidarRangeAll
 {
-  int method;
-  int start;
-  int end;
+  uint8_t method;
+  big_uint16_buf_t start;
+  big_uint16_buf_t end;
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarRangeAll const & arg)
   {
-    os << "method: " << arg.method;
+    os << "method: " << static_cast<int>(arg.method);
     os << ", ";
-    os << "start: " << arg.start;
+    os << "start: " << static_cast<int>(arg.start.value());
     os << ", ";
-    os << "end: " << arg.end;
+    os << "end: " << static_cast<int>(arg.end.value());
 
     return os;
   }
@@ -477,30 +443,31 @@ struct HesaiLidarRangeAll
 /// @brief struct of PTC_COMMAND_GET_PTP_CONFIG
 struct HesaiPtpConfig
 {
-  int status;
-  int profile;
-  int domain;
-  int network;
-  int logAnnounceInterval;
-  int logSyncInterval;
-  int logMinDelayReqInterval;
+  int8_t status;
+  int8_t profile;
+  int8_t domain;
+  int8_t network;
+  int8_t logAnnounceInterval;
+  int8_t logSyncInterval;
+  int8_t logMinDelayReqInterval;
+  //FIXME: this format is not correct for OT128, or for AT128 on 802.1AS
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpConfig const & arg)
   {
-    os << "status: " << arg.status;
+    os << "status: " << static_cast<int>(arg.status);
     os << ", ";
-    os << "profile: " << arg.profile;
+    os << "profile: " << static_cast<int>(arg.profile);
     os << ", ";
-    os << "domain: " << arg.domain;
+    os << "domain: " << static_cast<int>(arg.domain);
     os << ", ";
-    os << "network: " << arg.network;
+    os << "network: " << static_cast<int>(arg.network);
     if (arg.status == 0) {
       os << ", ";
-      os << "logAnnounceInterval: " << arg.logAnnounceInterval;
+      os << "logAnnounceInterval: " << static_cast<int>(arg.logAnnounceInterval);
       os << ", ";
-      os << "logSyncInterval: " << arg.logSyncInterval;
+      os << "logSyncInterval: " << static_cast<int>(arg.logSyncInterval);
       os << ", ";
-      os << "logMinDelayReqInterval: " << arg.logMinDelayReqInterval;
+      os << "logMinDelayReqInterval: " << static_cast<int>(arg.logMinDelayReqInterval);
     }
     return os;
   }
@@ -509,10 +476,11 @@ struct HesaiPtpConfig
 /// @brief struct of PTC_COMMAND_LIDAR_MONITOR
 struct HesaiLidarMonitor
 {
-  int input_voltage;
-  int input_current;
-  int input_power;
-  std::vector<unsigned char> reserved = std::vector<unsigned char>(52);
+  //FIXME: this format is not correct for OT128
+  big_int32_buf_t input_voltage;
+  big_int32_buf_t input_current;
+  big_int32_buf_t input_power;
+  uint8_t reserved[52];
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarMonitor const & arg)
   {
@@ -523,14 +491,19 @@ struct HesaiLidarMonitor
     os << "input_power: " << arg.input_power;
     os << ", ";
     os << "reserved: ";
-    for (long unsigned int i = 0; i < arg.reserved.size() - 1; i++) {
-      os << arg.reserved[i] << ",";
+
+    for (size_t i = 0; i < sizeof(arg.reserved); i++) {
+      if (i != 0) {
+        os << ' ';
+      }
+      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
     }
-    os << arg.reserved[arg.reserved.size() - 1];
 
     return os;
   }
 };
 
+#pragma pack(pop)
+
 }  // namespace nebula
 #endif  // HESAI_CMD_RESPONSE_HPP
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 2f5639373..c60107ab2 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -15,6 +15,7 @@
 #include "boost_udp_driver/udp_driver.hpp"
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/hesai/hesai_status.hpp"
+#include "nebula_common/util/expected.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp"
 
@@ -29,6 +30,7 @@
 
 #include <memory>
 #include <mutex>
+#include <vector>
 
 namespace nebula
 {
@@ -63,6 +65,20 @@ const uint8_t PTC_COMMAND_RESET = 0x25;
 const uint8_t PTC_COMMAND_SET_ROTATE_DIRECTION = 0x2a;
 const uint8_t PTC_COMMAND_LIDAR_MONITOR = 0x27;
 
+const uint8_t PTC_ERROR_CODE_NO_ERROR = 0x00;
+const uint8_t PTC_ERROR_CODE_INVALID_INPUT_PARAM = 0x01;
+const uint8_t PTC_ERROR_CODE_SERVER_CONN_FAILED = 0x02;
+const uint8_t PTC_ERROR_CODE_INVALID_DATA = 0x03;
+const uint8_t PTC_ERROR_CODE_OUT_OF_MEMORY = 0x04;
+const uint8_t PTC_ERROR_CODE_UNSUPPORTED_CMD = 0x05;
+const uint8_t PTC_ERROR_CODE_FPGA_COMM_FAILED = 0x06;
+const uint8_t PTC_ERROR_CODE_OTHER = 0x07;
+
+const uint8_t TCP_ERROR_UNRELATED_RESPONSE = 1;
+const uint8_t TCP_ERROR_UNEXPECTED_PAYLOAD = 2;
+const uint8_t TCP_ERROR_TIMEOUT = 4;
+const uint8_t TCP_ERROR_INCOMPLETE_RESPONSE = 8;
+
 const uint16_t PANDARQT64_PACKET_SIZE = 1072;
 const uint16_t PANDARQT128_PACKET_SIZE = 1127;
 const uint16_t PANDARXT32_PACKET_SIZE = 1080;
@@ -74,7 +90,6 @@ const uint16_t PANDAR40_PACKET_SIZE = 1262;
 const uint16_t PANDAR40P_EXTENDED_PACKET_SIZE = 1266;
 const uint16_t PANDAR128_E4X_PACKET_SIZE = 861;
 const uint16_t PANDAR128_E4X_EXTENDED_PACKET_SIZE = 1117;
-
 const uint16_t MTU_SIZE = 1500;
 
 // Time interval between Announce messages, in units of log seconds (default: 1)
@@ -87,10 +102,13 @@ const int PTP_LOG_MIN_DELAY_INTERVAL = 0;
 const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
+
 /// @brief Hardware interface of hesai driver
 class HesaiHwInterface : NebulaHwInterfaceBase
 {
 private:
+  typedef nebula::util::expected<std::vector<uint8_t>, uint32_t> ptc_cmd_result_t;
+
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
@@ -141,12 +159,18 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   /// @param bytes Target byte vector
   void PrintDebug(const std::vector<uint8_t> & bytes);
 
+  /// @brief Convert an error code to a human-readable string
+  /// @param error_code The error code (lowest byte is Hesai PTC error code, higher bytes nebula flags)
+  /// such as TCP_ERROR_UNRELATED_RESPONSE etc.
+  /// @return A string description of all errors in this code
+  std::string PrettyPrintPTCError(uint32_t error_code);
+
   /// @brief Send a PTC request with an optional payload, and return the full response payload.
   /// Blocking.
   /// @param command_id PTC command number.
   /// @param payload Payload bytes of the PTC command. Not including the 8-byte PTC header.
   /// @return The returned payload, if successful, or nullptr.
-  std::shared_ptr<std::vector<uint8_t>> SendReceive(
+  ptc_cmd_result_t SendReceive(
     const uint8_t command_id, const std::vector<uint8_t> & payload = {});
 
 public:
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index a5e5bd068..3d068173f 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -48,7 +48,7 @@ HesaiHwInterface::~HesaiHwInterface()
 #endif
 }
 
-std::shared_ptr<std::vector<uint8_t>> HesaiHwInterface::SendReceive(
+HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   const uint8_t command_id, const std::vector<uint8_t> & payload)
 {
   uint32_t len = payload.size();
@@ -64,8 +64,12 @@ std::shared_ptr<std::vector<uint8_t>> HesaiHwInterface::SendReceive(
   send_buf.emplace_back(len & 0xff);
   send_buf.insert(send_buf.end(), payload.begin(), payload.end());
 
+  // These are shared_ptrs so that in case of request timeout, the callback (if ever called) can access valid memory
   auto recv_buf = std::make_shared<std::vector<uint8_t>>();
-  bool success = false;
+  auto response_complete = std::make_shared<bool>(false);
+
+  // Low byte is for PTC error code, the rest is nebula-specific
+  auto error_code = std::make_shared<uint32_t>(0);
 
   std::stringstream ss;
   ss << "0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(command_id) << " (" << len << ") ";
@@ -84,23 +88,32 @@ std::shared_ptr<std::vector<uint8_t>> HesaiHwInterface::SendReceive(
   PrintDebug(log_tag + "Sending payload");
   tcp_driver_->asyncSendReceiveHeaderPayload(
     send_buf,
-    [this, log_tag, &success](const std::vector<uint8_t> & header_bytes) {
+    [this, log_tag, command_id, response_complete, error_code](const std::vector<uint8_t> & header_bytes) {
       size_t payload_len = (header_bytes[4] << 24) | (header_bytes[5] << 16) | (header_bytes[6] << 8) | header_bytes[7];
       PrintDebug(log_tag + "Received header (expecting " + std::to_string(payload_len) + "B payload)");
-      if (payload_len == 0) { success = true; }
+      // If command_id in the response does not match, we got a response for another command (or rubbish), probably as a
+      // result of too many simultaneous TCP connections to the sensor (e.g. from GUI, Web UI, another nebula instance, etc.)
+      if (header_bytes[2] != command_id) {
+        *error_code = (TCP_ERROR_UNRELATED_RESPONSE << 8);
+      }
+      *error_code |= header_bytes[3];
+      if (payload_len == 0) { 
+        *response_complete = true; 
+      }
     },
-    [this, log_tag, &recv_buf, &success](const std::vector<uint8_t> & payload_bytes) {
+    [this, log_tag, recv_buf, response_complete, error_code](const std::vector<uint8_t> & payload_bytes) {
       PrintDebug(log_tag + "Received payload");
 
       // Header had payload length 0 (thus, header callback processed request successfully already),
       // but we still received a payload: invalid state
-      if (success == true) {
-        throw std::runtime_error("Received payload despite payload length 0 in header");
+      if (*response_complete == true) {
+        *error_code |= (TCP_ERROR_UNEXPECTED_PAYLOAD << 8);
+        return;
       }
 
       // Skip 8 header bytes
       recv_buf->insert(recv_buf->end(), std::next(payload_bytes.begin(), 8), payload_bytes.end());
-      success = true;
+      *response_complete = true;
     },
     [this, log_tag, &tm]() {
       PrintDebug(log_tag + "Unlocking mutex");
@@ -110,16 +123,19 @@ std::shared_ptr<std::vector<uint8_t>> HesaiHwInterface::SendReceive(
   this->IOContextRun();
   if (!tm.try_lock_for(std::chrono::seconds(1))) {
     PrintError(log_tag + "Request did not finish within 1s");
-    return nullptr;
+    *error_code |= (TCP_ERROR_TIMEOUT << 8);
+    return *error_code;
   }
 
-  if (!success) {
+  if (!response_complete) {
     PrintError(log_tag + "Did not receive response");
-    return nullptr;
+    *error_code |= (TCP_ERROR_INCOMPLETE_RESPONSE << 8);
+    return *error_code;
   }
 
   PrintDebug(log_tag + "Received response");
-  return recv_buf;
+
+  return *recv_buf;
 }
 
 Status HesaiHwInterface::SetSensorConfiguration(
@@ -344,50 +360,29 @@ boost::property_tree::ptree HesaiHwInterface::ParseJson(const std::string & str)
 
 std::vector<uint8_t> HesaiHwInterface::GetLidarCalibrationBytes()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
-  return std::vector<uint8_t>(*response_ptr);
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
+  return response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 }
 
 std::string HesaiHwInterface::GetLidarCalibrationString()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
-  std::string calib_string(response_ptr->begin(), response_ptr->end());
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
+  auto calib_data = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  std::string calib_string(calib_data.begin(), calib_data.end());
   return calib_string;
 }
 
 HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
-  auto & response = *response_ptr;
-
-  HesaiPtpDiagStatus hesai_ptp_diag_status{};
-  int payload_pos = 0;
-  hesai_ptp_diag_status.master_offset = static_cast<long long>(response[payload_pos++]) << 56;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 48;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 40;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 32;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 24;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 16;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]) << 8;
-  hesai_ptp_diag_status.master_offset =
-    hesai_ptp_diag_status.master_offset | static_cast<long long>(response[payload_pos++]);
-  hesai_ptp_diag_status.ptp_state = response[payload_pos++] << 24;
-  hesai_ptp_diag_status.ptp_state = hesai_ptp_diag_status.ptp_state | response[payload_pos++] << 16;
-  hesai_ptp_diag_status.ptp_state = hesai_ptp_diag_status.ptp_state | response[payload_pos++] << 8;
-  hesai_ptp_diag_status.ptp_state = hesai_ptp_diag_status.ptp_state | response[payload_pos++];
-  hesai_ptp_diag_status.elapsed_millisec = response[payload_pos++] << 24;
-  hesai_ptp_diag_status.elapsed_millisec =
-    hesai_ptp_diag_status.elapsed_millisec | response[payload_pos++] << 16;
-  hesai_ptp_diag_status.elapsed_millisec =
-    hesai_ptp_diag_status.elapsed_millisec | response[payload_pos++] << 8;
-  hesai_ptp_diag_status.elapsed_millisec =
-    hesai_ptp_diag_status.elapsed_millisec | response[payload_pos++];
+  auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+
+  if (response.size() != sizeof(HesaiPtpDiagStatus)) {
+    throw std::runtime_error("Unexpected payload size");
+  }
+
+  HesaiPtpDiagStatus hesai_ptp_diag_status;
+  memcpy(&hesai_ptp_diag_status, response.data(), sizeof(HesaiPtpDiagStatus));
 
   std::stringstream ss;
   ss << "HesaiHwInterface::GetPtpDiagStatus: " << hesai_ptp_diag_status;
@@ -398,38 +393,14 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 
 HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
-  auto & response = *response_ptr;
-
-  HesaiPtpDiagPort hesai_ptp_diag_port;
-  int payload_pos = 0;
+  auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  for (size_t i = 0; i < hesai_ptp_diag_port.portIdentity.size(); i++) {
-    hesai_ptp_diag_port.portIdentity[i] = response[payload_pos++];
+  if (response.size() != sizeof(HesaiPtpDiagPort)) {
+    throw std::runtime_error("Unexpected payload size");
   }
-  hesai_ptp_diag_port.portState = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.logMinDelayReqInterval = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.peerMeanPathDelay = static_cast<long long>(response[payload_pos++]) << 56;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 48;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 40;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 32;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 24;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 16;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]) << 8;
-  hesai_ptp_diag_port.peerMeanPathDelay =
-    hesai_ptp_diag_port.peerMeanPathDelay | static_cast<long long>(response[payload_pos++]);
-  hesai_ptp_diag_port.logAnnounceInterval = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.announceReceiptTimeout = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.logSyncInterval = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.delayMechanism = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.logMinPdelayReqInterval = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_port.versionNumber = static_cast<int>(response[payload_pos++]);
+  HesaiPtpDiagPort hesai_ptp_diag_port;
+  memcpy(&hesai_ptp_diag_port, response.data(), sizeof(HesaiPtpDiagPort));
 
   std::stringstream ss;
   ss << "HesaiHwInterface::GetPtpDiagPort: " << hesai_ptp_diag_port;
@@ -440,80 +411,15 @@ HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 
 HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  HesaiPtpDiagTime hesai_ptp_diag_time;
-  int payload_pos = 0;
-  hesai_ptp_diag_time.master_offset = static_cast<long long>(response[payload_pos++]) << 56;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 48;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 40;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 32;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 24;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 16;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]) << 8;
-  hesai_ptp_diag_time.master_offset =
-    hesai_ptp_diag_time.master_offset | static_cast<long long>(response[payload_pos++]);
-  hesai_ptp_diag_time.ingress_time = static_cast<long long>(response[payload_pos++]) << 56;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 48;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 40;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 32;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 24;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 16;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]) << 8;
-  hesai_ptp_diag_time.ingress_time =
-    hesai_ptp_diag_time.ingress_time | static_cast<long long>(response[payload_pos++]);
-  hesai_ptp_diag_time.cumulativeScaledRateOffset = response[payload_pos++] << 24;
-  hesai_ptp_diag_time.cumulativeScaledRateOffset =
-    hesai_ptp_diag_time.cumulativeScaledRateOffset | response[payload_pos++] << 16;
-  hesai_ptp_diag_time.cumulativeScaledRateOffset =
-    hesai_ptp_diag_time.cumulativeScaledRateOffset | response[payload_pos++] << 8;
-  hesai_ptp_diag_time.cumulativeScaledRateOffset =
-    hesai_ptp_diag_time.cumulativeScaledRateOffset | response[payload_pos++];
-  hesai_ptp_diag_time.scaledLastGmPhaseChange = response[payload_pos++] << 24;
-  hesai_ptp_diag_time.scaledLastGmPhaseChange =
-    hesai_ptp_diag_time.scaledLastGmPhaseChange | response[payload_pos++] << 16;
-  hesai_ptp_diag_time.scaledLastGmPhaseChange =
-    hesai_ptp_diag_time.scaledLastGmPhaseChange | response[payload_pos++] << 8;
-  hesai_ptp_diag_time.scaledLastGmPhaseChange =
-    hesai_ptp_diag_time.scaledLastGmPhaseChange | response[payload_pos++];
-  hesai_ptp_diag_time.gmTimeBaseIndicator = response[payload_pos++] << 8;
-  hesai_ptp_diag_time.gmTimeBaseIndicator =
-    hesai_ptp_diag_time.gmTimeBaseIndicator | response[payload_pos++];
-  for (size_t i = 0; i < hesai_ptp_diag_time.lastGmPhaseChange.size(); i++) {
-    hesai_ptp_diag_time.lastGmPhaseChange[i] = response[payload_pos++];
+  if (response.size() != sizeof(HesaiPtpDiagTime)) {
+    throw std::runtime_error("Unexpected payload size");
   }
-  hesai_ptp_diag_time.gmPresent = response[payload_pos++] << 24;
-  hesai_ptp_diag_time.gmPresent = hesai_ptp_diag_time.gmPresent | response[payload_pos++] << 16;
-  hesai_ptp_diag_time.gmPresent = hesai_ptp_diag_time.gmPresent | response[payload_pos++] << 8;
-  hesai_ptp_diag_time.gmPresent = hesai_ptp_diag_time.gmPresent | response[payload_pos++];
-  hesai_ptp_diag_time.gmIdentity = static_cast<long long>(response[payload_pos++]) << 56;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 48;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 40;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 32;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 24;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 16;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]) << 8;
-  hesai_ptp_diag_time.gmIdentity =
-    hesai_ptp_diag_time.gmIdentity | static_cast<long long>(response[payload_pos++]);
+
+  HesaiPtpDiagTime hesai_ptp_diag_time;
+  memcpy(&hesai_ptp_diag_time, response.data(), sizeof(HesaiPtpDiagTime));
 
   std::stringstream ss;
   ss << "HesaiHwInterface::GetPtpDiagTime: " << hesai_ptp_diag_time;
@@ -524,25 +430,15 @@ HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 
 HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 {
-  auto response_ptr =
-    SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+
+  if (response.size() != sizeof(HesaiPtpDiagGrandmaster)) {
+    throw std::runtime_error("Unexpected payload size");
+  }
 
   HesaiPtpDiagGrandmaster hesai_ptp_diag_grandmaster;
-  int payload_pos = 0;
-
-  hesai_ptp_diag_grandmaster.clockQuality = response[payload_pos++] << 24;
-  hesai_ptp_diag_grandmaster.clockQuality =
-    hesai_ptp_diag_grandmaster.clockQuality | response[payload_pos++] << 16;
-  hesai_ptp_diag_grandmaster.clockQuality =
-    hesai_ptp_diag_grandmaster.clockQuality | response[payload_pos++] << 8;
-  hesai_ptp_diag_grandmaster.clockQuality =
-    hesai_ptp_diag_grandmaster.clockQuality | response[payload_pos++];
-  hesai_ptp_diag_grandmaster.utc_offset = response[payload_pos++] << 8;
-  hesai_ptp_diag_grandmaster.utc_offset =
-    hesai_ptp_diag_grandmaster.utc_offset | response[payload_pos++];
-  hesai_ptp_diag_grandmaster.time_flags = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_diag_grandmaster.time_source = static_cast<int>(response[payload_pos++]);
+  memcpy(&hesai_ptp_diag_grandmaster, response.data(), sizeof(HesaiPtpDiagGrandmaster));
 
   std::stringstream ss;
   ss << "HesaiHwInterface::GetPtpDiagGrandmaster: " << hesai_ptp_diag_grandmaster;
@@ -553,98 +449,32 @@ HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 
 HesaiInventory HesaiHwInterface::GetInventory()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_INVENTORY_INFO);
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_INVENTORY_INFO);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  HesaiInventory hesai_inventory;
-  int payload_pos = 0;
-  for (size_t i = 0; i < hesai_inventory.sn.size(); i++) {
-    hesai_inventory.sn[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.date_of_manufacture.size(); i++) {
-    hesai_inventory.date_of_manufacture[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.mac.size(); i++) {
-    hesai_inventory.mac[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.sw_ver.size(); i++) {
-    hesai_inventory.sw_ver[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.hw_ver.size(); i++) {
-    hesai_inventory.hw_ver[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.control_fw_ver.size(); i++) {
-    hesai_inventory.control_fw_ver[i] = response[payload_pos++];
-  }
-  for (size_t i = 0; i < hesai_inventory.sensor_fw_ver.size(); i++) {
-    hesai_inventory.sensor_fw_ver[i] = response[payload_pos++];
-  }
-  hesai_inventory.angle_offset = response[payload_pos++] << 8;
-  hesai_inventory.angle_offset = hesai_inventory.angle_offset | response[payload_pos++];
-  hesai_inventory.model = static_cast<int>(response[payload_pos++]);
-  hesai_inventory.motor_type = static_cast<int>(response[payload_pos++]);
-  hesai_inventory.num_of_lines = static_cast<int>(response[payload_pos++]);
-  for (size_t i = 0; i < hesai_inventory.reserved.size(); i++) {
-    hesai_inventory.reserved[i] = static_cast<unsigned char>(response[payload_pos++]);
+  if (response.size() < sizeof(HesaiInventory)) {
+    throw std::runtime_error("Unexpected payload size");
+  } else if (response.size() > sizeof(HesaiInventory)) {
+    PrintError("HesaiInventory from Sensor has unknown format. Will parse anyway.");
   }
 
+  HesaiInventory hesai_inventory;
+  memcpy(&hesai_inventory, response.data(), sizeof(HesaiInventory));
+
   return hesai_inventory;
 }
 
 HesaiConfig HesaiHwInterface::GetConfig()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
-  auto & response = *response_ptr;
-
-  HesaiConfig hesai_config{};
-  int payload_pos = 0;
-  hesai_config.ipaddr[0] = static_cast<int>(response[payload_pos++]);
-  hesai_config.ipaddr[1] = static_cast<int>(response[payload_pos++]);
-  hesai_config.ipaddr[2] = static_cast<int>(response[payload_pos++]);
-  hesai_config.ipaddr[3] = static_cast<int>(response[payload_pos++]);
-  hesai_config.mask[0] = static_cast<int>(response[payload_pos++]);
-  hesai_config.mask[1] = static_cast<int>(response[payload_pos++]);
-  hesai_config.mask[2] = static_cast<int>(response[payload_pos++]);
-  hesai_config.mask[3] = static_cast<int>(response[payload_pos++]);
-  hesai_config.gateway[0] = static_cast<int>(response[payload_pos++]);
-  hesai_config.gateway[1] = static_cast<int>(response[payload_pos++]);
-  hesai_config.gateway[2] = static_cast<int>(response[payload_pos++]);
-  hesai_config.gateway[3] = static_cast<int>(response[payload_pos++]);
-  hesai_config.dest_ipaddr[0] = static_cast<int>(response[payload_pos++]);
-  hesai_config.dest_ipaddr[1] = static_cast<int>(response[payload_pos++]);
-  hesai_config.dest_ipaddr[2] = static_cast<int>(response[payload_pos++]);
-  hesai_config.dest_ipaddr[3] = static_cast<int>(response[payload_pos++]);
-  hesai_config.dest_LiDAR_udp_port = response[payload_pos++] << 8;
-  hesai_config.dest_LiDAR_udp_port = hesai_config.dest_LiDAR_udp_port | response[payload_pos++];
-  hesai_config.dest_gps_udp_port = response[payload_pos++] << 8;
-  hesai_config.dest_gps_udp_port = hesai_config.dest_gps_udp_port | response[payload_pos++];
-  hesai_config.spin_rate = response[payload_pos++] << 8;
-  hesai_config.spin_rate = hesai_config.spin_rate | response[payload_pos++];
-  hesai_config.sync = static_cast<int>(response[payload_pos++]);
-  hesai_config.sync_angle = response[payload_pos++] << 8;
-  hesai_config.sync_angle = hesai_config.sync_angle | response[payload_pos++];
-  hesai_config.start_angle = response[payload_pos++] << 8;
-  hesai_config.start_angle = hesai_config.start_angle | response[payload_pos++];
-  hesai_config.stop_angle = response[payload_pos++] << 8;
-  hesai_config.stop_angle = hesai_config.stop_angle | response[payload_pos++];
-  hesai_config.clock_source = static_cast<int>(response[payload_pos++]);
-  hesai_config.udp_seq = static_cast<int>(response[payload_pos++]);
-  hesai_config.trigger_method = static_cast<int>(response[payload_pos++]);
-  hesai_config.return_mode = static_cast<int>(response[payload_pos++]);
-  hesai_config.standby_mode = static_cast<int>(response[payload_pos++]);
-  hesai_config.motor_status = static_cast<int>(response[payload_pos++]);
-  hesai_config.vlan_flag = static_cast<int>(response[payload_pos++]);
-  hesai_config.vlan_id = response[payload_pos++] << 8;
-  hesai_config.vlan_id = hesai_config.vlan_id | response[payload_pos++];
-  hesai_config.clock_data_fmt = static_cast<int>(response[payload_pos++]);
-  hesai_config.noise_filtering = static_cast<int>(response[payload_pos++]);
-  hesai_config.reflectivity_mapping = static_cast<int>(response[payload_pos++]);
-  hesai_config.reserved[0] = static_cast<unsigned char>(response[payload_pos++]);
-  hesai_config.reserved[1] = static_cast<unsigned char>(response[payload_pos++]);
-  hesai_config.reserved[2] = static_cast<unsigned char>(response[payload_pos++]);
-  hesai_config.reserved[3] = static_cast<unsigned char>(response[payload_pos++]);
-  hesai_config.reserved[4] = static_cast<unsigned char>(response[payload_pos++]);
-  hesai_config.reserved[5] = static_cast<unsigned char>(response[payload_pos++]);
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+
+  if (response.size() != sizeof(HesaiConfig)) {
+    throw std::runtime_error("Unexpected payload size");
+  }
+
+  HesaiConfig hesai_config;
+  memcpy(&hesai_config, response.data(), sizeof(HesaiConfig));
 
   std::cout << "Config: " << hesai_config << std::endl;
   return hesai_config;
@@ -652,40 +482,16 @@ HesaiConfig HesaiHwInterface::GetConfig()
 
 HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  HesaiLidarStatus hesai_status;
-  int payload_pos = 0;
-  hesai_status.system_uptime = response[payload_pos++] << 24;
-  hesai_status.system_uptime = hesai_status.system_uptime | response[payload_pos++] << 16;
-  hesai_status.system_uptime = hesai_status.system_uptime | response[payload_pos++] << 8;
-  hesai_status.system_uptime = hesai_status.system_uptime | response[payload_pos++];
-  hesai_status.motor_speed = response[payload_pos++] << 8;
-  hesai_status.motor_speed = hesai_status.motor_speed | response[payload_pos++];
-  for (size_t i = 0; i < hesai_status.temperature.size(); i++) {
-    hesai_status.temperature[i] = response[payload_pos++] << 24;
-    hesai_status.temperature[i] = hesai_status.temperature[i] | response[payload_pos++] << 16;
-    hesai_status.temperature[i] = hesai_status.temperature[i] | response[payload_pos++] << 8;
-    hesai_status.temperature[i] = hesai_status.temperature[i] | response[payload_pos++];
-  }
-  hesai_status.gps_pps_lock = static_cast<int>(response[payload_pos++]);
-  hesai_status.gps_gprmc_status = static_cast<int>(response[payload_pos++]);
-  hesai_status.startup_times = response[payload_pos++] << 24;
-  hesai_status.startup_times = hesai_status.startup_times | response[payload_pos++] << 16;
-  hesai_status.startup_times = hesai_status.startup_times | response[payload_pos++] << 8;
-  hesai_status.startup_times = hesai_status.startup_times | response[payload_pos++];
-  hesai_status.total_operation_time = response[payload_pos++] << 24;
-  hesai_status.total_operation_time = hesai_status.total_operation_time | response[payload_pos++]
-                                                                            << 16;
-  hesai_status.total_operation_time = hesai_status.total_operation_time | response[payload_pos++]
-                                                                            << 8;
-  hesai_status.total_operation_time = hesai_status.total_operation_time | response[payload_pos++];
-  hesai_status.ptp_clock_status = static_cast<int>(response[payload_pos++]);
-  for (size_t i = 0; i < hesai_status.reserved.size(); i++) {
-    hesai_status.reserved[i] = static_cast<unsigned char>(response[payload_pos++]);
+  if (response.size() != sizeof(HesaiLidarStatus)) {
+    throw std::runtime_error("Unexpected payload size");
   }
 
+  HesaiLidarStatus hesai_status;
+  memcpy(&hesai_status, response.data(), sizeof(HesaiLidarStatus));
+
   return hesai_status;
 }
 
@@ -695,7 +501,8 @@ Status HesaiHwInterface::SetSpinRate(uint16_t rpm)
   request_payload.emplace_back((rpm >> 8) & 0xff);
   request_payload.emplace_back(rpm & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_SPIN_RATE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_SPIN_RATE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -706,7 +513,8 @@ Status HesaiHwInterface::SetSyncAngle(int sync_angle, int angle)
   request_payload.emplace_back((angle >> 8) & 0xff);
   request_payload.emplace_back(angle & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_SYNC_ANGLE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_SYNC_ANGLE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -715,7 +523,8 @@ Status HesaiHwInterface::SetTriggerMethod(int trigger_method)
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(trigger_method & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_TRIGGER_METHOD, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_TRIGGER_METHOD, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -724,7 +533,8 @@ Status HesaiHwInterface::SetStandbyMode(int standby_mode)
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(standby_mode & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_STANDBY_MODE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_STANDBY_MODE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -733,7 +543,8 @@ Status HesaiHwInterface::SetReturnMode(int return_mode)
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(return_mode & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_RETURN_MODE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_RETURN_MODE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -750,7 +561,8 @@ Status HesaiHwInterface::SetDestinationIp(
   request_payload.emplace_back((gps_port >> 8) & 0xff);
   request_payload.emplace_back(gps_port & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_DESTINATION_IP, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_DESTINATION_IP, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -775,7 +587,8 @@ Status HesaiHwInterface::SetControlPort(
   request_payload.emplace_back((vlan_id >> 8) & 0xff);
   request_payload.emplace_back(vlan_id & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_CONTROL_PORT, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_CONTROL_PORT, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -788,7 +601,8 @@ Status HesaiHwInterface::SetLidarRange(int method, std::vector<unsigned char> da
   request_payload.emplace_back(method & 0xff);
   request_payload.insert(request_payload.end(), data.begin(), data.end());
 
-  SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -805,31 +619,36 @@ Status HesaiHwInterface::SetLidarRange(int start, int end)
   request_payload.emplace_back((end >> 8) & 0xff);
   request_payload.emplace_back(end & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
 HesaiLidarRangeAll HesaiHwInterface::GetLidarRange()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_LIDAR_RANGE);
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_RANGE);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+
+  if (response.size() < 1) {
+    throw std::runtime_error("Response payload too short");
+  }
 
   HesaiLidarRangeAll hesai_range_all;
-  int payload_pos = 0;
-  int method = static_cast<int>(response[payload_pos++]);
-  switch (method) {
+  hesai_range_all.method = response[0];
+  switch (hesai_range_all.method) {
     case 0:  // for all channels
-      hesai_range_all.method = method;
-      hesai_range_all.start = response[payload_pos++] << 8;
-      hesai_range_all.start = hesai_range_all.start | response[payload_pos++];
-      hesai_range_all.end = response[payload_pos++] << 8;
-      hesai_range_all.end = hesai_range_all.end | response[payload_pos++];
+      if (response.size() != 5) {
+        throw std::runtime_error("Unexpected response payload");
+      }
+      
+      memcpy(&hesai_range_all.start, &response[1], 2);
+      memcpy(&hesai_range_all.end, &response[3], 2);
       break;
     case 1:  // for each channel
-      hesai_range_all.method = method;
+      //TODO
       break;
     case 2:  // multi-section FOV
-      hesai_range_all.method = method;
+      //TODO
       break;
   }
 
@@ -841,7 +660,8 @@ Status HesaiHwInterface::SetClockSource(int clock_source)
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(clock_source & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_CLOCK_SOURCE, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_CLOCK_SOURCE, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -874,28 +694,28 @@ Status HesaiHwInterface::SetPtpConfig(
     request_payload.emplace_back(switch_type & 0xff);
   }
 
-  SendReceive(PTC_COMMAND_SET_PTP_CONFIG, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_PTP_CONFIG, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
 HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_GET_PTP_CONFIG);
-  auto & response = *response_ptr;
-
-  HesaiPtpConfig hesai_ptp_config{};
+  auto response_or_err = SendReceive(PTC_COMMAND_GET_PTP_CONFIG);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  int payload_pos = 0;
-  hesai_ptp_config.status = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_config.profile = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_config.domain = static_cast<int>(response[payload_pos++]);
-  hesai_ptp_config.network = static_cast<int>(response[payload_pos++]);
-  if (hesai_ptp_config.status == 0) {
-    hesai_ptp_config.logAnnounceInterval = static_cast<int>(response[payload_pos++]);
-    hesai_ptp_config.logSyncInterval = static_cast<int>(response[payload_pos++]);
-    hesai_ptp_config.logMinDelayReqInterval = static_cast<int>(response[payload_pos++]);
+  if (response.size() < sizeof(HesaiPtpConfig)) {
+    throw std::runtime_error("Unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpConfig)) {
+    PrintError("HesaiPtpConfig from Sensor has unknown format. Will parse anyway.");
   }
 
+  HesaiPtpConfig hesai_ptp_config;
+  memcpy(&hesai_ptp_config.status, response.data(), 1);
+
+  size_t bytes_to_parse = (hesai_ptp_config.status == 0) ? sizeof(HesaiPtpConfig) : 4;
+  memcpy(&hesai_ptp_config, response.data(), bytes_to_parse);
+
   std::stringstream ss;
   ss << "HesaiHwInterface::GetPtpConfig: " << hesai_ptp_config;
   PrintInfo(ss.str());
@@ -905,7 +725,8 @@ HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
 
 Status HesaiHwInterface::SendReset()
 {
-  SendReceive(PTC_COMMAND_RESET);
+  auto response_or_err = SendReceive(PTC_COMMAND_RESET);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
@@ -914,38 +735,23 @@ Status HesaiHwInterface::SetRotDir(int mode)
   std::vector<unsigned char> request_payload;
   request_payload.emplace_back(mode & 0xff);
 
-  SendReceive(PTC_COMMAND_SET_ROTATE_DIRECTION, request_payload);
+  auto response_or_err = SendReceive(PTC_COMMAND_SET_ROTATE_DIRECTION, request_payload);
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
   return Status::OK;
 }
 
 HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
 {
-  auto response_ptr = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
-  auto & response = *response_ptr;
+  auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
 
-  HesaiLidarMonitor hesai_lidar_monitor;
-  int payload_pos = 0;
-  hesai_lidar_monitor.input_voltage = response[payload_pos++] << 24;
-  hesai_lidar_monitor.input_voltage = hesai_lidar_monitor.input_voltage | response[payload_pos++]
-                                                                            << 16;
-  hesai_lidar_monitor.input_voltage = hesai_lidar_monitor.input_voltage | response[payload_pos++]
-                                                                            << 8;
-  hesai_lidar_monitor.input_voltage = hesai_lidar_monitor.input_voltage | response[payload_pos++];
-  hesai_lidar_monitor.input_current = response[payload_pos++] << 24;
-  hesai_lidar_monitor.input_current = hesai_lidar_monitor.input_current | response[payload_pos++]
-                                                                            << 16;
-  hesai_lidar_monitor.input_current = hesai_lidar_monitor.input_current | response[payload_pos++]
-                                                                            << 8;
-  hesai_lidar_monitor.input_current = hesai_lidar_monitor.input_current | response[payload_pos++];
-  hesai_lidar_monitor.input_power = response[payload_pos++] << 24;
-  hesai_lidar_monitor.input_power = hesai_lidar_monitor.input_power | response[payload_pos++] << 16;
-  hesai_lidar_monitor.input_power = hesai_lidar_monitor.input_power | response[payload_pos++] << 8;
-  hesai_lidar_monitor.input_power = hesai_lidar_monitor.input_power | response[payload_pos++];
-
-  for (size_t i = 0; i < hesai_lidar_monitor.reserved.size(); i++) {
-    hesai_lidar_monitor.reserved[i] = static_cast<unsigned char>(response[payload_pos++]);
+  if (response.size() != sizeof(HesaiLidarMonitor)) {
+    throw std::runtime_error("Unexpected payload size");
   }
 
+  HesaiLidarMonitor hesai_lidar_monitor;
+  memcpy(&hesai_lidar_monitor, response.data(), sizeof(HesaiLidarMonitor));
+
   return hesai_lidar_monitor;
 }
 
@@ -1153,8 +959,8 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
   }
 
   auto current_rotation_speed = hesai_config.spin_rate;
-  if (sensor_configuration->rotation_speed != current_rotation_speed) {
-    PrintInfo("current lidar rotation_speed: " + std::to_string(current_rotation_speed));
+  if (sensor_configuration->rotation_speed != current_rotation_speed.value()) {
+    PrintInfo("current lidar rotation_speed: " + std::to_string(static_cast<int>(current_rotation_speed.value())));
     PrintInfo(
       "current configuration rotation_speed: " +
       std::to_string(sensor_configuration->rotation_speed));
@@ -1172,8 +978,8 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 
   bool set_flg = false;
   std::stringstream ss;
-  ss << hesai_config.dest_ipaddr[0] << "." << hesai_config.dest_ipaddr[1] << "."
-     << hesai_config.dest_ipaddr[2] << "." << hesai_config.dest_ipaddr[3];
+  ss << static_cast<int>(hesai_config.dest_ipaddr[0]) << "." << static_cast<int>(hesai_config.dest_ipaddr[1]) << "."
+     << static_cast<int>(hesai_config.dest_ipaddr[2]) << "." << static_cast<int>(hesai_config.dest_ipaddr[3]);
   auto current_host_addr = ss.str();
   if (sensor_configuration->host_ip != current_host_addr) {
     set_flg = true;
@@ -1182,17 +988,17 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
   }
 
   auto current_host_dport = hesai_config.dest_LiDAR_udp_port;
-  if (sensor_configuration->data_port != current_host_dport) {
+  if (sensor_configuration->data_port != current_host_dport.value()) {
     set_flg = true;
-    PrintInfo("current lidar dest_LiDAR_udp_port: " + std::to_string(current_host_dport));
+    PrintInfo("current lidar dest_LiDAR_udp_port: " + std::to_string(static_cast<int>(current_host_dport.value())));
     PrintInfo(
       "current configuration data_port: " + std::to_string(sensor_configuration->data_port));
   }
 
   auto current_host_tport = hesai_config.dest_gps_udp_port;
-  if (sensor_configuration->gnss_port != current_host_tport) {
+  if (sensor_configuration->gnss_port != current_host_tport.value()) {
     set_flg = true;
-    PrintInfo("current lidar dest_gps_udp_port: " + std::to_string(current_host_tport));
+    PrintInfo("current lidar dest_gps_udp_port: " + std::to_string(static_cast<int>(current_host_tport.value())));
     PrintInfo(
       "current configuration gnss_port: " + std::to_string(sensor_configuration->gnss_port));
   }
@@ -1212,7 +1018,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 
   if (sensor_configuration->sensor_model != SensorModel::HESAI_PANDARAT128) {
     set_flg = true;
-    auto sync_angle = static_cast<int>(hesai_config.sync_angle / 100);
+    auto sync_angle = static_cast<int>(hesai_config.sync_angle.value() / 100);
     auto scan_phase = static_cast<int>(sensor_configuration->scan_phase);
     int sync_flg = 1;
     if (scan_phase != sync_angle) {
@@ -1296,18 +1102,18 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
     set_flg = true;
   } else {
     auto current_cloud_min_angle = hesai_lidar_range_all.start;
-    if (static_cast<int>(sensor_configuration->cloud_min_angle * 10) != current_cloud_min_angle) {
+    if (static_cast<int>(sensor_configuration->cloud_min_angle * 10) != current_cloud_min_angle.value()) {
       set_flg = true;
-      PrintInfo("current lidar range.start: " + std::to_string(current_cloud_min_angle));
+      PrintInfo("current lidar range.start: " + std::to_string(static_cast<int>(current_cloud_min_angle.value())));
       PrintInfo(
         "current configuration cloud_min_angle: " +
         std::to_string(sensor_configuration->cloud_min_angle));
     }
 
     auto current_cloud_max_angle = hesai_lidar_range_all.end;
-    if (static_cast<int>(sensor_configuration->cloud_max_angle * 10) != current_cloud_max_angle) {
+    if (static_cast<int>(sensor_configuration->cloud_max_angle * 10) != current_cloud_max_angle.value()) {
       set_flg = true;
-      PrintInfo("current lidar range.end: " + std::to_string(current_cloud_max_angle));
+      PrintInfo("current lidar range.end: " + std::to_string(static_cast<int>(current_cloud_max_angle.value())));
       PrintInfo(
         "current configuration cloud_max_angle: " +
         std::to_string(sensor_configuration->cloud_max_angle));
@@ -1547,5 +1353,76 @@ void HesaiHwInterface::PrintDebug(const std::vector<uint8_t> & bytes)
   PrintDebug(ss.str());
 }
 
+std::string HesaiHwInterface::PrettyPrintPTCError(uint32_t error_code) {
+  if (error_code == 0) {
+    return "No error";
+  }
+
+  uint8_t hesai_error = error_code & 0xFF;
+  uint32_t nebula_error_flags = (error_code >> 8);
+  std::stringstream ss;
+
+  if (hesai_error) {
+    ss << "Sensor error: 0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(hesai_error) << ' ';
+  }
+
+  switch(hesai_error) {
+    case PTC_ERROR_CODE_NO_ERROR:
+      break;
+    case PTC_ERROR_CODE_INVALID_INPUT_PARAM:
+      ss << "Invalid input parameter";
+      break;
+    case PTC_ERROR_CODE_SERVER_CONN_FAILED:
+      ss << "Failure to connect to server";
+      break;
+    case PTC_ERROR_CODE_INVALID_DATA:
+      ss << "No valid data returned";
+      break;
+    case PTC_ERROR_CODE_OUT_OF_MEMORY:
+      ss << "Server does not have enough memory";
+      break;
+    case PTC_ERROR_CODE_UNSUPPORTED_CMD:
+      ss << "Server does not support this command yet";
+      break;
+    case PTC_ERROR_CODE_FPGA_COMM_FAILED:
+      ss << "Server failed to communicate with FPGA";
+      break;
+    case PTC_ERROR_CODE_OTHER:
+      ss << "Unspecified internal error";
+      break;
+    default:
+      ss << "Unknown error";
+      break;
+  }
+
+  if (!nebula_error_flags) {
+    return ss.str();
+  }
+
+  if (hesai_error) {
+    ss << ", ";
+  }
+
+  ss << "Communication error: ";
+  std::vector<std::string> nebula_errors;
+
+  if (nebula_error_flags & TCP_ERROR_INCOMPLETE_RESPONSE) {
+    nebula_errors.push_back("Incomplete response payload");
+  }
+  if (nebula_error_flags & TCP_ERROR_TIMEOUT) {
+    nebula_errors.push_back("Request timeout");
+  }
+  if (nebula_error_flags & TCP_ERROR_UNEXPECTED_PAYLOAD) {
+    nebula_errors.push_back("Received payload but expected payload length 0");
+  }
+  if (nebula_error_flags & TCP_ERROR_UNRELATED_RESPONSE) {
+    nebula_errors.push_back("Received unrelated response");
+  }
+
+  ss << boost::algorithm::join(nebula_errors, ", ");
+
+  return ss.str();
+}
+
 }  // namespace drivers
 }  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
index 857f638cd..aee7e3284 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
@@ -20,6 +20,7 @@
 #include <boost/lexical_cast.hpp>
 
 #include <thread>
+#include <array>
 
 namespace nebula
 {
diff --git a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
index 239f6b8b0..d1c0beec9 100644
--- a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
@@ -73,7 +73,7 @@ HesaiHwMonitorRosWrapper::HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & o
     std::cout << "HesaiInventory" << std::endl;
     std::cout << result << std::endl;
     info_model = result.get_str_model();
-    info_serial = std::string(result.sn.begin(), result.sn.end());
+    info_serial = std::string(std::begin(result.sn), std::begin(result.sn));
     hw_interface_.SetTargetModel(result.model);
     RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
     RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
@@ -479,9 +479,9 @@ void HesaiHwMonitorRosWrapper::HesaiCheckStatus(
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
-    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
-    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
-    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
+    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime.value()));
+    diagnostics.add("startup_times", std::to_string(current_status->startup_times.value()));
+    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time.value()));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -530,9 +530,9 @@ void HesaiHwMonitorRosWrapper::HesaiCheckTemperature(
   if (current_status) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    for (size_t i = 0; i < current_status->temperature.size(); i++) {
+    for (size_t i = 0; i < std::size(current_status->temperature); i++) {
       diagnostics.add(
-        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
+        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i].value() * 0.01));
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -547,7 +547,7 @@ void HesaiHwMonitorRosWrapper::HesaiCheckRpm(
   if (current_status) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
+    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed.value()));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -596,11 +596,11 @@ void HesaiHwMonitorRosWrapper::HesaiCheckVoltage(
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
+      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage.value() * 0.01) + " V");
     diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
+      "input_current", GetFixedPrecisionString(current_monitor->input_current.value() * 0.01) + " mA");
     diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
+      "input_power", GetFixedPrecisionString(current_monitor->input_power.value() * 0.01) + " W");
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {

From aff27331c53d80f443b2e29cbc2edcc2e0a90bb8 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 16:58:45 +0900
Subject: [PATCH 002/122] fix(hesai_decoder): print config instead of config
 address

---
 .../nebula_decoders_hesai/decoders/hesai_decoder.hpp            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index 7bdfd069e..b81b45d44 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -213,7 +213,7 @@ class HesaiDecoder : public HesaiScanDecoder
     logger_(rclcpp::get_logger("HesaiDecoder"))
   {
     logger_.set_level(rclcpp::Logger::Level::Debug);
-    RCLCPP_INFO_STREAM(logger_, sensor_configuration_);
+    RCLCPP_INFO_STREAM(logger_, *sensor_configuration_);
 
     decode_pc_.reset(new NebulaPointCloud);
     output_pc_.reset(new NebulaPointCloud);

From e9e05a65348c7950f2089f49b57cf5a159cffd99 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 17:01:34 +0900
Subject: [PATCH 003/122] refactor(nebula_ros): combine Hesai wrapper nodes
 into one

This is step one of the single node refactoring of Nebula.
In this step, only the three Hesai wrapper nodes were combined into one, and no optimizations have been done that are made possible by this refactoring.

The next step is to do those optimizations (e.g. get rid of unnecessary pointcloud copying).
---
 nebula_common/CMakeLists.txt                  |    2 +
 nebula_ros/CMakeLists.txt                     |   31 +-
 .../common/nebula_ros_wrapper_base.hpp        |   68 +
 .../hesai/hesai_decoder_ros_wrapper.hpp       |  106 --
 .../hesai/hesai_hw_interface_ros_wrapper.hpp  |  100 --
 ..._ros_wrapper.hpp => hesai_ros_wrapper.hpp} |  194 ++-
 nebula_ros/launch/hesai_launch_all_hw.xml     |   68 +-
 .../launch/hesai_launch_component.launch.xml  |  115 --
 .../src/hesai/hesai_decoder_ros_wrapper.cpp   |  488 -------
 .../hesai/hesai_hw_interface_ros_wrapper.cpp  |  510 -------
 .../hesai/hesai_hw_monitor_ros_wrapper.cpp    |  620 ---------
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 1234 +++++++++++++++++
 12 files changed, 1475 insertions(+), 2061 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
 delete mode 100644 nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
 delete mode 100644 nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
 rename nebula_ros/include/nebula_ros/hesai/{hesai_hw_monitor_ros_wrapper.hpp => hesai_ros_wrapper.hpp} (52%)
 delete mode 100644 nebula_ros/launch/hesai_launch_component.launch.xml
 delete mode 100644 nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
 delete mode 100644 nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
 delete mode 100644 nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hesai_ros_wrapper.cpp

diff --git a/nebula_common/CMakeLists.txt b/nebula_common/CMakeLists.txt
index 4c146736c..154f8e453 100644
--- a/nebula_common/CMakeLists.txt
+++ b/nebula_common/CMakeLists.txt
@@ -40,6 +40,8 @@ ament_auto_add_library(nebula_common SHARED
         src/velodyne/velodyne_calibration_decoder.cpp
         )
 
+target_link_libraries(nebula_common yaml-cpp)
+
 ament_auto_package()
 
 # Set ROS_DISTRO macros
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index dd81e1ac0..18ce06aad 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -33,34 +33,13 @@ include_directories(
 )
 link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES})
 ## Hesai
-# Hw Interface
-ament_auto_add_library(hesai_hw_ros_wrapper SHARED
-        src/hesai/hesai_hw_interface_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_ros_wrapper
-        PLUGIN "HesaiHwInterfaceRosWrapper"
-        EXECUTABLE hesai_hw_interface_ros_wrapper_node
-        )
-
-# Monitor
-ament_auto_add_library(hesai_hw_monitor_ros_wrapper SHARED
-        src/hesai/hesai_hw_monitor_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_monitor_ros_wrapper
-        PLUGIN "HesaiHwMonitorRosWrapper"
-        EXECUTABLE hesai_hw_monitor_ros_wrapper_node
-        )
-
-# DriverDecoder
-ament_auto_add_library(hesai_driver_ros_wrapper SHARED
-        src/hesai/hesai_decoder_ros_wrapper.cpp
+ament_auto_add_library(hesai_ros_wrapper SHARED
+        src/hesai/hesai_ros_wrapper.cpp
         )
 
-rclcpp_components_register_node(hesai_driver_ros_wrapper
-        PLUGIN "HesaiDriverRosWrapper"
-        EXECUTABLE hesai_driver_ros_wrapper_node
+rclcpp_components_register_node(hesai_ros_wrapper
+        PLUGIN "HesaiRosWrapper"
+        EXECUTABLE hesai_ros_wrapper_node
         )
 
 ## Velodyne
diff --git a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
new file mode 100644
index 000000000..5aaeb634b
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <string>
+#include <vector>
+
+namespace nebula
+{
+namespace ros
+{
+/// @brief Base class for ros wrapper of each sensor driver
+class NebulaRosWrapperBase
+{
+public:
+  NebulaRosWrapperBase() = default;
+
+  NebulaRosWrapperBase(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase & operator=(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase(const NebulaRosWrapperBase & c) = delete;
+  NebulaRosWrapperBase & operator=(const NebulaRosWrapperBase & c) = delete;
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  virtual Status StreamStart() = 0;
+
+  /// @brief Stop point cloud streaming (not used)
+  /// @return Resulting status
+  virtual Status StreamStop() = 0;
+
+  /// @brief Shutdown (not used)
+  /// @return Resulting status
+  virtual Status Shutdown() = 0;
+
+private:
+  /// @brief Virtual function for initializing hardware interface ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwInterface(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing hardware monitor ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwMonitor(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) = 0;
+
+  /// @brief Point cloud publisher
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;
+};
+
+}  // namespace ros
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
deleted file mode 100644
index 52518fcd0..000000000
--- a/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#ifndef NEBULA_HesaiDriverRosWrapper_H
-#define NEBULA_HesaiDriverRosWrapper_H
-
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <chrono>
-
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Ros wrapper of hesai driver
-class HesaiDriverRosWrapper final : public rclcpp::Node, NebulaDriverRosWrapperBase
-{
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
-  Status wrapper_status_;
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
-
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
-
-  drivers::HesaiHwInterface hw_interface_;
-
-  /// @brief Initializing ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
-
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @param calibration_configuration Output of CalibrationConfiguration
-  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
-  /// @return Resulting status
-  Status GetParameters(
-    drivers::HesaiSensorConfiguration & sensor_configuration,
-    drivers::HesaiCalibrationConfiguration & calibration_configuration,
-    drivers::HesaiCorrection & correction_configuration);
-
-  /// @brief Convert seconds to chrono::nanoseconds
-  /// @param seconds
-  /// @return chrono::nanoseconds
-  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
-  {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(seconds));
-  }
-
-  /***
-   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
-   * @param pointcloud unique pointer containing the point cloud to publish
-   * @param publisher
-   */
-  void PublishCloud(
-    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
-
-public:
-  explicit HesaiDriverRosWrapper(const rclcpp::NodeOptions & options);
-
-  /// @brief Callback for PandarScan subscriber
-  /// @param scan_msg Received PandarScan
-  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
-
-  /// @brief Get current status of this driver
-  /// @return Current status
-  Status GetStatus();
-
-private:
-  /// @brief File path of Correction data (Only required only for AT)
-  std::string correction_file_path;
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_HesaiDriverRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
deleted file mode 100644
index 1802f87b2..000000000
--- a/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
+++ /dev/null
@@ -1,100 +0,0 @@
-#ifndef NEBULA_HesaiHwInterfaceRosWrapper_H
-#define NEBULA_HesaiHwInterfaceRosWrapper_H
-
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-#include "boost_tcp_driver/tcp_driver.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
-
-#include <boost/asio.hpp>
-
-#include <mutex>
-#include <thread>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
-{
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
-    value = it->template get_value<T>();
-    return true;
-  }
-  return false;
-}
-
-/// @brief Hardware interface ros wrapper of hesai driver
-class HesaiHwInterfaceRosWrapper final : public rclcpp::Node, NebulaHwInterfaceWrapperBase
-{
-  drivers::HesaiHwInterface hw_interface_;
-  Status interface_status_;
-
-  drivers::HesaiSensorConfiguration sensor_configuration_;
-
-  /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
-
-  /// @brief Initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
-  /// @brief Callback for receiving PandarScan
-  /// @param scan_buffer Received PandarScan
-  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
-
-public:
-  explicit HesaiHwInterfaceRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiHwInterfaceRosWrapper() noexcept override;
-  /// @brief Start point cloud streaming (Call SensorInterfaceStart of HwInterface)
-  /// @return Resulting status
-  Status StreamStart() override;
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  Status StreamStop() override;
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  Status Shutdown() override;
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
-
-private:
-  uint16_t delay_hw_ms_;
-  bool retry_hw_;
-  std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-  /// @brief Updating rclcpp parameter
-  /// @return SetParametersResult
-  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_HesaiHwInterfaceRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
similarity index 52%
rename from nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
rename to nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index c23b76c55..f23d1f9c4 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -1,30 +1,36 @@
-#ifndef NEBULA_HesaiHwMonitorRosWrapper_H
-#define NEBULA_HesaiHwMonitorRosWrapper_H
+#pragma once
 
+#include "boost_tcp_driver/tcp_driver.hpp"
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
 #include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
-#include "boost_tcp_driver/tcp_driver.hpp"
+#include "nebula_ros/common/nebula_ros_wrapper_base.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include <boost/asio.hpp>
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
 
-#include <mutex>
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
 #include <boost/lexical_cast.hpp>
 
+#include <chrono>
+#include <mutex>
 #include <thread>
 
 namespace nebula
 {
 namespace ros
 {
+
 /// @brief Get parameter from rclcpp::Parameter
 /// @tparam T
 /// @param p Parameter from rclcpp parameter callback
@@ -44,39 +50,106 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
   return false;
 }
 
-/// @brief Hardware monitor ros wrapper of hesai driver
-class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapperBase
+/// @brief Ros wrapper of hesai driver
+class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 {
-  drivers::HesaiHwInterface hw_interface_;
-  Status interface_status_;
+public:
+  explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
+  ~HesaiRosWrapper();
 
-  drivers::HesaiSensorConfiguration sensor_configuration_;
+  /// @brief Callback for PandarScan subscriber
+  /// @param scan_msg Received PandarScan
+  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
 
-  /// @brief Initializing hardware monitor ros wrapper
+  /// @brief Get current status of this driver
+  /// @return Current status
+  Status GetStatus();
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  Status StreamStart() override;
+  /// @brief Stop point cloud streaming (not used)
+  /// @return Resulting status
+  Status StreamStop() override;
+  /// @brief Shutdown (not used)
+  /// @return Resulting status
+  Status Shutdown() override;
+
+private:
+  /// @brief Initializing ros wrapper
   /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
   /// @return Resulting status
-  Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
+  Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+
+  /// @brief Initializing ros wrapper for AT
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
+  /// @param correction_configuration CorrectionConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeCloudDriver(
+    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
+    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
+    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
 
-public:
-  explicit HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiHwMonitorRosWrapper() noexcept override;
-  /// @brief Not used
-  /// @return Current status
-  Status MonitorStart() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status MonitorStop() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status Shutdown() override;
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
+  Status GetParameters(
+    drivers::HesaiSensorConfiguration & sensor_configuration);
+
+  /// @brief Get calibration data from the sensor
+  /// @param calibration_configuration Output of CalibrationConfiguration
+  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
+  /// @return Resulting status
+  Status GetCalibrationData(
+    drivers::HesaiCalibrationConfiguration & calibration_configuration,
+    drivers::HesaiCorrection & correction_configuration);
+
+  /// @brief Convert seconds to chrono::nanoseconds
+  /// @param seconds
+  /// @return chrono::nanoseconds
+  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
+  {
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+      std::chrono::duration<double>(seconds));
+  }
+
+  /***
+   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
+   * @param pointcloud unique pointer containing the point cloud to publish
+   * @param publisher
+   */
+  void PublishCloud(
+    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
+
+  /// @brief Initializing hardware interface ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeHwInterface(
+    const drivers::SensorConfigurationBase & sensor_configuration) override;
+  /// @brief Callback for receiving PandarScan
+  /// @param scan_buffer Received PandarScan
+  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
+
+  /// @brief rclcpp parameter callback
+  /// @param parameters Received parameters
+  /// @return SetParametersResult
+  rcl_interfaces::msg::SetParametersResult paramCallback(
+    const std::vector<rclcpp::Parameter> & parameters);
+  /// @brief Updating rclcpp parameter
+  /// @return SetParametersResult
+  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
+
+  /// @brief Initializing hardware monitor ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeHwMonitor(
+    const drivers::SensorConfigurationBase & sensor_configuration) override;
 
-private:
-  diagnostic_updater::Updater diagnostics_updater_;
   /// @brief Initializing diagnostics
   void InitializeHesaiDiagnostics();
   /// @brief Callback of the timer for getting the current lidar status
@@ -106,6 +179,49 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via tcp
   /// @param diagnostics DiagnosticStatusWrapper
   void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
+  /// @brief Get value from property_tree
+  /// @param pt property_tree
+  /// @param key Pey string
+  /// @return Value
+  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
+  /// @brief Making fixed precision string
+  /// @param val Target value
+  /// @param pre Precision
+  /// @return Created string
+  std::string GetFixedPrecisionString(double val, int pre = 2);
+
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  Status wrapper_status_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
+
+  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
+
+  Status interface_status_;
+
+  //todo: temporary class member during single node refactoring
+  bool launch_hw_;
+
+  //todo: temporary class member during single node refactoring
+  std::string calibration_file_path;
+  /// @brief File path of Correction data (Only required only for AT)
+  std::string correction_file_path;
+
+  /// @brief Received Hesai message publisher
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
+
+  drivers::HesaiHwInterface hw_interface_;
+
+  uint16_t delay_hw_ms_;
+  bool retry_hw_;
+  std::mutex mtx_config_;
+  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
+
+  diagnostic_updater::Updater diagnostics_updater_;
 
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
   rclcpp::TimerBase::SharedPtr diagnostics_update_monitor_timer_;
@@ -127,24 +243,6 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   std::mutex mtx_diag;
   std::mutex mtx_status;
   std::mutex mtx_lidar_monitor;
-  //  std::timed_mutex mtx_lidar_monitor;
-  std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-  /// @brief Get value from property_tree
-  /// @param pt property_tree
-  /// @param key Pey string
-  /// @return Value
-  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
-  /// @brief Making fixed precision string
-  /// @param val Target value
-  /// @param pre Precision
-  /// @return Created string
-  std::string GetFixedPrecisionString(double val, int pre = 2);
 
   std::string info_model;
   std::string info_serial;
@@ -157,9 +255,9 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   std::string message_sep;
 
   std::vector<std::string> temperature_names;
+
+  bool setup_sensor;
 };
 
 }  // namespace ros
 }  // namespace nebula
-
-#endif  // NEBULA_HesaiHwMonitorRosWrapper_H
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index f4a1cd41c..579852fb8 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -35,8 +35,8 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node pkg="nebula_ros" exec="hesai_driver_ros_wrapper_node"
-          name="hesai_cloud" output="screen" ros_args="--log-level $(var debug_level)">
+    <node pkg="nebula_ros" exec="hesai_ros_wrapper_node"
+           name="nebula_hesai" output="screen" ros_args="--log-level $(var debug_level)">
         <param name="sensor_model" value="$(var sensor_model)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
@@ -45,52 +45,24 @@
         <param name="calibration_file" value="$(var calibration_file)"/>
         <param name="correction_file" value="$(var correction_file)"/>
         <param name="launch_hw" value="$(var launch_hw)"/>
-    </node>
-    <group if="$(var launch_hw)">
-        <node pkg="nebula_ros" exec="hesai_hw_interface_ros_wrapper_node"
-              name="hesai_hw_driver" output="screen" >
-            <param name="sensor_model" value="$(var sensor_model)"/>
-            <param name="return_mode" value="$(var return_mode)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="scan_phase" value="$(var scan_phase)"/>
-            <param name="sensor_ip" value="$(var sensor_ip)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="host_ip" value="$(var host_ip)"/>
-            <param name="data_port" value="$(var data_port)"/>
-            <param name="gnss_port" value="$(var gnss_port)"/>
-            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-            <param name="rotation_speed" value="$(var rotation_speed)"/>
-            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-            <param name="setup_sensor" value="$(var setup_sensor)"/>
-            <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
-            <param name="retry_hw" value="$(var retry_hw)"/>
-            <param name="ptp_profile" value="$(var ptp_profile)"/>
-            <param name="ptp_domain" value="$(var ptp_domain)"/>
-            <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-            <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-        </node>
 
-        <node pkg="nebula_ros" exec="hesai_hw_monitor_ros_wrapper_node"
-              name="hesai_hw_monitor_$(var frame_id)" output="screen">
-            <param name="sensor_model" value="$(var sensor_model)"/>
-            <param name="return_mode" value="$(var return_mode)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="scan_phase" value="$(var scan_phase)"/>
-            <param name="sensor_ip" value="$(var sensor_ip)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="host_ip" value="$(var host_ip)"/>
-            <param name="data_port" value="$(var data_port)"/>
-            <param name="gnss_port" value="$(var gnss_port)"/>
-            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-            <param name="rotation_speed" value="$(var rotation_speed)"/>
-            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-            <param name="diag_span" value="$(var diag_span)"/>
-            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-            <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
-        </node>
-    </group>
+        <param name="host_ip" value="$(var host_ip)"/>
+        <param name="data_port" value="$(var data_port)"/>
+        <param name="gnss_port" value="$(var gnss_port)"/>
+        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+        <param name="setup_sensor" value="$(var setup_sensor)"/>
+        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
+        <param name="retry_hw" value="$(var retry_hw)"/>
+        <param name="ptp_profile" value="$(var ptp_profile)"/>
+        <param name="ptp_domain" value="$(var ptp_domain)"/>
+        <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+        <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
 
+        <param name="diag_span" value="$(var diag_span)"/>
+        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
+    </node>
 </launch>
diff --git a/nebula_ros/launch/hesai_launch_component.launch.xml b/nebula_ros/launch/hesai_launch_component.launch.xml
deleted file mode 100644
index 75c7414da..000000000
--- a/nebula_ros/launch/hesai_launch_component.launch.xml
+++ /dev/null
@@ -1,115 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <arg name="launch_hw" default="true" />
-    <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/>
-    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
-    <arg name="frame_id"  default="hesai"/>
-    <arg name="scan_phase" default="0.0" />
-
-    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
-    <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/>
-
-    <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
-    <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
-
-    <arg name="sensor_ip" default="192.168.1.201" description="Lidar Sensor IP"/>
-    <arg name="host_ip" default="255.255.255.255" description="Broadcast IP from Sensor"/>
-    <arg name="data_port" default="2368" description="LiDAR Data Port"/>
-    <arg name="gnss_port" default="2369" description="LiDAR GNSS Port"/>
-
-    <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
-    <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
-    <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
-    <arg name="diag_span" default="1000" description="milliseconds"/>
-
-    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
-    <arg name="ptp_profile" default="1588v2" description="1588v2|802.1as|automotive"/>
-    <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
-    <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
-    <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
-    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
-    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
-    <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
-    <arg name="debug_logging" default="False" description="Launches Monitor/HW Interfaces and calibration acquisition"/>
-
-    <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
-    <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
-
-
-    <group>
-        <node_container pkg="rclcpp_components" exec="component_container_mt" name="PandarContainer" namespace="/">
-            <composable_node pkg="nebula_ros"
-                             plugin="HesaiDriverRosWrapper"
-                             name="pandar_driver"
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="calibration_file" value="$(var calibration_file)"/>
-                <param name="correction_file" value="$(var correction_file)"/>
-                <param name="launch_hw" value="$(var launch_hw)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </node_container>
-    </group>
-
-    <group if="$(var launch_hw)">
-        <load_composable_node target="PandarContainer">
-            <composable_node pkg="nebula_ros"
-                             plugin="HesaiHwInterfaceRosWrapper"
-                             name="PandarHw"
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="host_ip" value="$(var host_ip)"/>
-                <param name="data_port" value="$(var data_port)"/>
-                <param name="gnss_port" value="$(var gnss_port)"/>
-                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-                <param name="rotation_speed" value="$(var rotation_speed)"/>
-                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-                <param name="setup_sensor" value="$(var setup_sensor)"/>
-                <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
-                <param name="retry_hw" value="$(var retry_hw)"/>
-                <param name="ptp_profile" value="$(var ptp_profile)"/>
-                <param name="ptp_domain" value="$(var ptp_domain)"/>
-                <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-                <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </load_composable_node>
-
-        <load_composable_node target="PandarContainer">
-            <composable_node pkg="nebula_ros" 
-                             plugin="HesaiHwMonitorRosWrapper"
-                             name="PandarMon" 
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="host_ip" value="$(var host_ip)"/>
-                <param name="data_port" value="$(var data_port)"/>
-                <param name="gnss_port" value="$(var gnss_port)"/>
-                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-                <param name="rotation_speed" value="$(var rotation_speed)"/>
-                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-                <param name="diag_span" value="$(var diag_span)"/>
-                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-                <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </load_composable_node>
-    </group>
-
-</launch>
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
deleted file mode 100644
index 6f27d547e..000000000
--- a/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
+++ /dev/null
@@ -1,488 +0,0 @@
-#include "nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiDriverRosWrapper::HesaiDriverRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_driver_ros_wrapper", options), hw_interface_()
-{
-  drivers::HesaiCalibrationConfiguration calibration_configuration;
-  drivers::HesaiSensorConfiguration sensor_configuration;
-  drivers::HesaiCorrection correction_configuration;
-
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-
-  wrapper_status_ =
-    GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-  calibration_cfg_ptr_ =
-    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
-
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
-    wrapper_status_ = InitializeDriver(
-      std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-  } else {
-    wrapper_status_ = InitializeDriver(
-      std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                         qos_profile);
-  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
-    "pandar_packets", qos,
-    std::bind(&HesaiDriverRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
-}
-
-void HesaiDriverRosWrapper::ReceiveScanMsgCallback(
-  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
-{
-  auto t_start = std::chrono::high_resolution_clock::now();
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ConvertScanToPointcloud(scan_msg);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-
-  if (pointcloud == nullptr) {
-    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
-    return;
-  };
-  if (
-    nebula_points_pub_->get_subscription_count() > 0 ||
-    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-  }
-  if (
-    aw_points_base_pub_->get_subscription_count() > 0 ||
-    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_cloud_xyzi =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-  }
-  if (
-    aw_points_ex_pub_->get_subscription_count() > 0 ||
-    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-  }
-
-  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
-}
-
-void HesaiDriverRosWrapper::PublishCloud(
-  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
-{
-  if (pointcloud->header.stamp.sec < 0) {
-    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
-  }
-  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
-  publisher->publish(std::move(pointcloud));
-}
-
-Status HesaiDriverRosWrapper::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiDriverRosWrapper::InitializeDriver(
-  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiDriverRosWrapper::GetStatus() { return wrapper_status_; }
-
-Status HesaiDriverRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration,
-  drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_configuration.calibration_file =
-      this->get_parameter("calibration_file").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
-  }
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("correction_file", "", descriptor);
-    correction_file_path = this->get_parameter("correction_file").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  bool launch_hw;
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw = this->get_parameter("launch_hw").as_bool();
-  }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-  
-  bool run_local = !launch_hw;
-  if (sensor_configuration.sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
-    std::string calibration_file_path_from_sensor;
-    if (launch_hw && !calibration_configuration.calibration_file.empty()) {
-      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
-      calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
-    }
-    if(launch_hw) {
-      run_local = false;
-      RCLCPP_INFO_STREAM(
-        this->get_logger(), "Trying to acquire calibration data from sensor: '"
-        << sensor_configuration.sensor_ip << "'");
-      std::future<void> future = std::async(std::launch::async,
-                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-                                              if (hw_interface_.InitializeTcpDriver() == Status::OK) {
-                                                auto str = hw_interface_.GetLidarCalibrationString();
-                                                  auto rt = calibration_configuration.SaveFileFromString(
-                                                    calibration_file_path_from_sensor, str);
-                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  }
-                                                  rt = calibration_configuration.LoadFromString(str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(),
-                                                                        "LoadFromString success:" << str << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(),
-                                                                        "LoadFromString failed:" << str << "\n");
-                                                  }
-                                              } else {
-                                                run_local = true;
-                                              }
-                                            });
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(5000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired calibration data from sensor: '"
-          << sensor_configuration.sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "The calibration has been saved in '"
-          << calibration_file_path_from_sensor << "'");
-      }
-    }
-    if(run_local) {
-      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
-      bool run_org = false;
-      if (calibration_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status =
-          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
-
-        if (cal_status != Status::OK) {
-          run_org = true;
-        }else{
-          RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load calibration data from: '"
-                                  << calibration_file_path_from_sensor << "'");
-        }
-      }
-      if(run_org) {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
-        if (calibration_configuration.calibration_file.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status =
-            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
-
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(),
-              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
-            return cal_status;
-          }else{
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load calibration data from: '"
-                                    << calibration_configuration.calibration_file << "'");
-          }
-        }
-      }
-    }
-  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
-    std::string correction_file_path_from_sensor;
-    if (launch_hw && !correction_file_path.empty()) {
-      int ext_pos = correction_file_path.find_last_of('.');
-      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
-      correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
-    }
-    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local, &launch_hw]() {
-      if (launch_hw && hw_interface_.InitializeTcpDriver() == Status::OK) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Trying to acquire calibration data from sensor");
-        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-        rt = correction_configuration.LoadFromBinary(received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-          run_local = false;
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-      }else{
-        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-        run_local = true;
-      }
-    });
-    if (!run_local) {
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(8000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired correction data from sensor: '"
-          << sensor_configuration.sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "The correction has been saved in '"
-          << correction_file_path_from_sensor << "'");
-      }
-    }
-    if(run_local) {
-      bool run_org = false;
-      if (correction_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        auto cal_status =
-          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
-
-        if (cal_status != Status::OK) {
-          run_org = true;
-        }else{
-          RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load correction data from: '"
-                                  << correction_file_path_from_sensor << "'");
-        }
-      }
-      if(run_org) {
-        if (correction_file_path.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
-
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
-            return cal_status;
-          }else{
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '"
-                                    << correction_file_path << "'");
-          }
-        }
-      }
-    }
-  } // end AT128
-  // Do not use outside of this location
-  hw_interface_.~HesaiHwInterface();
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(HesaiDriverRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
deleted file mode 100644
index 1ac59b55b..000000000
--- a/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
+++ /dev/null
@@ -1,510 +0,0 @@
-#include "nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiHwInterfaceRosWrapper::HesaiHwInterfaceRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_hw_interface_ros_wrapper", options), hw_interface_()
-{
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-#if not defined(TEST_PCAP)
-  Status rt = hw_interface_.InitializeTcpDriver();
-  if(this->retry_hw_)
-  {
-    int cnt = 0;
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-    while(rt == Status::ERROR_1)
-    {
-      cnt++;
-      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      rt = hw_interface_.InitializeTcpDriver();
-    }
-  }
-
-  if(rt != Status::ERROR_1){
-    try{
-      std::vector<std::thread> thread_pool{};
-        thread_pool.emplace_back([this] {
-          auto result = hw_interface_.GetInventory();
-          RCLCPP_INFO_STREAM(get_logger(), result);
-          hw_interface_.SetTargetModel(result.model);
-        });
-        for (std::thread & th : thread_pool) {
-          th.join();
-        }
-
-    }
-    catch (...)
-    {
-      std::cout << "catch (...) in parent" << std::endl;
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  }
-  else
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr->sensor_model);
-  }
-#endif
-
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiHwInterfaceRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
-  pandar_scan_pub_ =
-    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-
-#if not defined(TEST_PCAP)
-  if (this->setup_sensor) {
-    set_param_res_ = this->add_on_set_parameters_callback(
-      std::bind(&HesaiHwInterfaceRosWrapper::paramCallback, this, std::placeholders::_1));
-  }
-#endif
-
-#ifdef WITH_DEBUG_STDOUT_HesaiHwInterfaceRosWrapper
-  if (false) {
-    std::vector<std::thread> thread_pool{};
-    thread_pool.emplace_back([this] { hw_interface_.SetStandbyMode(0); });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarCalib(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagStatus(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagPort(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagTime(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagGrandmaster(ios);
-    });
-    //  thread_pool.emplace_back([&hw_interface_]{
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetInventory(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetConfig(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarStatus(ios);
-    });
-    thread_pool.emplace_back([this] { hw_interface_.SetStandbyMode(1); });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpConfig(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarRange(ios);
-    });
-    for (std::thread & th : thread_pool) {
-      //    hw_interface_.IOServiceRun();
-      th.join();
-    }
-  }
-  if (false) {
-    std::vector<std::thread> thread_pool{};
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      std::cout << "GetLidarCalib" << std::endl;
-      hw_interface_.GetLidarCalib(ios);
-    });
-    for (std::thread & th : thread_pool) {
-      th.join();
-    }
-  }
-#endif
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-}
-
-HesaiHwInterfaceRosWrapper::~HesaiHwInterfaceRosWrapper() {
-  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-  hw_interface_.FinalizeTcpDriver();
-}
-
-Status HesaiHwInterfaceRosWrapper::StreamStart()
-{
-  if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.SensorInterfaceStart();
-  }
-  return interface_status_;
-}
-
-Status HesaiHwInterfaceRosWrapper::StreamStop() { return Status::OK; }
-Status HesaiHwInterfaceRosWrapper::Shutdown() { return Status::OK; }
-
-Status HesaiHwInterfaceRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiHwInterfaceRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      range.set__from_value(200).set__to_value(500).set__step(100);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
-      descriptor.additional_constraints = "300, 600, 1200";
-      range.set__from_value(300).set__to_value(1200).set__step(300);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("setup_sensor", true, descriptor);
-    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
-    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("retry_hw", true, descriptor);
-    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile =
-      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
-    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
-      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
-    }
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_switch_type", "");
-    sensor_configuration.ptp_switch_type =
-      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
-  }
-
-  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-void HesaiHwInterfaceRosWrapper::ReceiveScanDataCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
-{
-  // Publish
-  scan_buffer->header.frame_id = sensor_configuration_.frame_id;
-  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
-  pandar_scan_pub_->publish(std::move(scan_buffer));
-}
-
-rcl_interfaces::msg::SetParametersResult HesaiHwInterfaceRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
-
-  drivers::HesaiSensorConfiguration new_param{sensor_configuration_};
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  if (
-    get_param(p, "sensor_model", sensor_model_str) ||
-    get_param(p, "return_mode", return_mode_str) || get_param(p, "host_ip", new_param.host_ip) ||
-    get_param(p, "sensor_ip", new_param.sensor_ip) ||
-    get_param(p, "frame_id", new_param.frame_id) ||
-    get_param(p, "data_port", new_param.data_port) ||
-    get_param(p, "gnss_port", new_param.gnss_port) ||
-    get_param(p, "scan_phase", new_param.scan_phase) ||
-    get_param(p, "packet_mtu_size", new_param.packet_mtu_size) ||
-    get_param(p, "rotation_speed", new_param.rotation_speed) ||
-    get_param(p, "cloud_min_angle", new_param.cloud_min_angle) ||
-    get_param(p, "cloud_max_angle", new_param.cloud_max_angle) ||
-    get_param(p, "dual_return_distance_threshold", new_param.dual_return_distance_threshold)) {
-    if (0 < sensor_model_str.length())
-      new_param.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
-    if (0 < return_mode_str.length())
-      new_param.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
-
-    sensor_configuration_ = new_param;
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-    hw_interface_.CheckAndSetConfig();
-  }
-
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
-
-  return *result;
-}
-
-std::vector<rcl_interfaces::msg::SetParametersResult> HesaiHwInterfaceRosWrapper::updateParameters()
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
-  std::ostringstream os_sensor_model;
-  os_sensor_model << sensor_configuration_.sensor_model;
-  std::ostringstream os_return_mode;
-  os_return_mode << sensor_configuration_.return_mode;
-  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
-  auto results = set_parameters(
-    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-     rclcpp::Parameter("return_mode", os_return_mode.str()),
-     rclcpp::Parameter("host_ip", sensor_configuration_.host_ip),
-     rclcpp::Parameter("sensor_ip", sensor_configuration_.sensor_ip),
-     rclcpp::Parameter("frame_id", sensor_configuration_.frame_id),
-     rclcpp::Parameter("data_port", sensor_configuration_.data_port),
-     rclcpp::Parameter("gnss_port", sensor_configuration_.gnss_port),
-     rclcpp::Parameter("scan_phase", sensor_configuration_.scan_phase),
-     rclcpp::Parameter("packet_mtu_size", sensor_configuration_.packet_mtu_size),
-     rclcpp::Parameter("rotation_speed", sensor_configuration_.rotation_speed),
-     rclcpp::Parameter("cloud_min_angle", sensor_configuration_.cloud_min_angle),
-     rclcpp::Parameter("cloud_max_angle", sensor_configuration_.cloud_max_angle),
-     rclcpp::Parameter(
-       "dual_return_distance_threshold", sensor_configuration_.dual_return_distance_threshold)});
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
-  return results;
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(HesaiHwInterfaceRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
deleted file mode 100644
index 85476075e..000000000
--- a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
+++ /dev/null
@@ -1,620 +0,0 @@
-#include "nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiHwMonitorRosWrapper::HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_hw_monitor_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
-{
-  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
-
-  switch (sensor_cfg_ptr->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-  while(hw_interface_.InitializeTcpDriver() == Status::ERROR_1)
-  {
-    RCLCPP_WARN(this->get_logger(), "Could not initialize TCP driver, retrying in 8s...");
-    std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-  }
-  std::vector<std::thread> thread_pool{};
-  thread_pool.emplace_back([this] {
-    auto result = hw_interface_.GetInventory();
-    current_inventory.reset(new HesaiInventory(result));
-    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
-    RCLCPP_INFO_STREAM(this->get_logger(), result);
-    info_model = result.get_str_model();
-    info_serial = std::string(result.sn.begin(), result.sn.end());
-    hw_interface_.SetTargetModel(result.model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-    InitializeHesaiDiagnostics();
-  });
-  for (std::thread & th : thread_pool) {
-    th.join();
-  }
-
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiHwMonitorRosWrapper::paramCallback, this, std::placeholders::_1));
-}
-
-Status HesaiHwMonitorRosWrapper::MonitorStart() { return interface_status_; }
-
-Status HesaiHwMonitorRosWrapper::MonitorStop() { return Status::OK; }
-Status HesaiHwMonitorRosWrapper::Shutdown() { return Status::OK; }
-
-Status HesaiHwMonitorRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiHwMonitorRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      range.set__from_value(200).set__to_value(500).set__step(100);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
-      descriptor.additional_constraints = "300, 600, 1200";
-      range.set__from_value(300).set__to_value(1200).set__step(300);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    this->diag_span_ = this->get_parameter("diag_span").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
-    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-void HesaiHwMonitorRosWrapper::InitializeHesaiDiagnostics()
-{
-  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
-  using std::chrono_literals::operator""s;
-  std::ostringstream os;
-  auto hardware_id = info_model + ": " + info_serial;
-  diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
-
-  diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorRosWrapper::HesaiCheckStatus);
-  diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add(
-    "hesai_temperature", this, &HesaiHwMonitorRosWrapper::HesaiCheckTemperature);
-  diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorRosWrapper::HesaiCheckRpm);
-
-  current_status.reset();
-  current_monitor.reset();
-  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-
-  auto fetch_diag_from_sensor = [this](){ 
-    OnHesaiStatusTimer(); 
-    if (hw_interface_.UseHttpGetLidarMonitor()) {
-      OnHesaiLidarMonitorTimerHttp();
-    } else {
-      OnHesaiLidarMonitorTimer();
-    }
-  };
-
-  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
-
-  if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add(
-      "hesai_voltage", this, &HesaiHwMonitorRosWrapper::HesaiCheckVoltageHttp);
-  } else {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorRosWrapper::HesaiCheckVoltage);
-  }
-
-  auto on_timer_update = [this] {
-    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
-    auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time).seconds();
-
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
-
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    dif = (now - *current_lidar_monitor_time).seconds();
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    diagnostics_updater_.force_update();
-  };
-  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
-    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
-
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
-}
-
-std::string HesaiHwMonitorRosWrapper::GetPtreeValue(
-  boost::property_tree::ptree * pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return not_supported_message;
-  }
-}
-std::string HesaiHwMonitorRosWrapper::GetFixedPrecisionString(double val, int pre)
-{
-  std::stringstream ss;
-  ss << std::fixed << std::setprecision(pre) << val;
-  return ss.str();
-}
-
-rcl_interfaces::msg::SetParametersResult HesaiHwMonitorRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(get_logger(), p);
-  RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
-
-  drivers::HesaiSensorConfiguration new_param{sensor_configuration_};
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
-  uint16_t new_diag_span = 0;
-  if (get_param(p, "diag_span", new_diag_span)) {
-    sensor_configuration_ = new_param;
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-  }
-
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
-  return *result;
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiStatusTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
-  try {
-    auto ios = std::make_shared<boost::asio::io_service>();
-    auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_status);
-    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status.reset(new HesaiLidarStatus(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiHwMonitorRosWrapper::OnHesaiStatusTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
-  try {
-    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor);
-      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree =
-        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-    });
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
-      error.what());
-  }
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
-  try {
-    auto ios = std::make_shared<boost::asio::io_service>();
-    auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor);
-    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor.reset(new HesaiLidarMonitor(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
-      error.what());
-  }
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckStatus(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-
-    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
-    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
-    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckPtp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    auto gps_status = current_status->get_str_gps_pps_lock();
-    auto gprmc_status = current_status->get_str_gps_gprmc_status();
-    auto ptp_status = current_status->get_str_ptp_clock_status();
-    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
-    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
-    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
-    diagnostics.add("gps_pps_lock", gps_status);
-    diagnostics.add("gps_gprmc_status", gprmc_status);
-    diagnostics.add("ptp_clock_status", ptp_status);
-    if (gps_status != "UNKNOWN") {
-      msg.emplace_back("gps_pps_lock: " + gps_status);
-    }
-    if (gprmc_status != "UNKNOWN") {
-      msg.emplace_back("gprmc_status: " + gprmc_status);
-    }
-    if (ptp_status != "UNKNOWN") {
-      msg.emplace_back("ptp_status: " + ptp_status);
-    }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckTemperature(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    for (size_t i = 0; i < current_status->temperature.size(); i++) {
-      diagnostics.add(
-        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckRpm(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckVoltageHttp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_lidar_monitor_tree) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    std::string key = "";
-
-    std::string mes;
-    key = "lidarInCur";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-    key = "lidarInVol";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckVoltage(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_monitor) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
-    diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
-    diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-  HesaiHwMonitorRosWrapper::~HesaiHwMonitorRosWrapper() {
-    RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-    hw_interface_.FinalizeTcpDriver();
-  }
-
-  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiHwMonitorRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
new file mode 100644
index 000000000..4fc2a12df
--- /dev/null
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -0,0 +1,1234 @@
+#include "nebula_ros/hesai/hesai_ros_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
+: rclcpp::Node("hesai_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
+{
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  drivers::HesaiSensorConfiguration sensor_configuration;
+  wrapper_status_ = GetParameters(sensor_configuration);
+  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+
+  // hwiface
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return;
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
+  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+#if not defined(TEST_PCAP)
+  Status rt = hw_interface_.InitializeTcpDriver();
+  if(this->retry_hw_)
+  {
+    int cnt = 0;
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+    while(rt == Status::ERROR_1)
+    {
+      cnt++;
+      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+      rt = hw_interface_.InitializeTcpDriver();
+    }
+  }
+
+  if(rt != Status::ERROR_1){
+    try{
+      std::vector<std::thread> thread_pool{};
+        thread_pool.emplace_back([this] {
+          auto result = hw_interface_.GetInventory();
+          RCLCPP_INFO_STREAM(get_logger(), result);
+          hw_interface_.SetTargetModel(result.model);
+        });
+        for (std::thread & th : thread_pool) {
+          th.join();
+        }
+
+    }
+    catch (...)
+    {
+      std::cout << "catch (...) in parent" << std::endl;
+      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
+    }
+    if (this->setup_sensor) {
+      hw_interface_.CheckAndSetConfig();
+      updateParameters();
+    }
+  }
+  else
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+  }
+#endif
+
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
+  pandar_scan_pub_ =
+    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+
+#if not defined(TEST_PCAP)
+  if (this->setup_sensor) {
+    set_param_res_ = this->add_on_set_parameters_callback(
+      std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+  }
+#endif
+
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+}
+  // decoder
+  {
+  drivers::HesaiCalibrationConfiguration calibration_configuration;
+  drivers::HesaiCorrection correction_configuration;
+
+  wrapper_status_ =
+    GetCalibrationData(calibration_configuration, correction_configuration);
+  if (Status::OK != wrapper_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    return;
+  }
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
+
+  calibration_cfg_ptr_ =
+    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+
+
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
+  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
+    wrapper_status_ = InitializeCloudDriver(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
+      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
+      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+  } else {
+    wrapper_status_ = InitializeCloudDriver(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
+      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  }
+
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
+                         qos_profile);
+  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
+    "pandar_packets", qos,
+    std::bind(&HesaiRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
+  nebula_points_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
+  aw_points_base_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
+  aw_points_ex_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
+}
+
+//hwmon
+{
+cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return;
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
+
+  message_sep = ": ";
+  not_supported_message = "Not supported";
+  error_message = "Error";
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names.emplace_back("Bottom circuit board T1");
+      temperature_names.emplace_back("Bottom circuit board T2");
+      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names.emplace_back("Laser emitting board RT_L2");
+      temperature_names.emplace_back("Receiving board RT_R");
+      temperature_names.emplace_back("Receiving board RT2");
+      temperature_names.emplace_back("Top circuit RT3");
+      temperature_names.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names.emplace_back("Bottom circuit RT1");
+      temperature_names.emplace_back("Bottom circuit RT2");
+      temperature_names.emplace_back("Internal Temperature");
+      temperature_names.emplace_back("Laser emitting board RT1");
+      temperature_names.emplace_back("Laser emitting board RT2");
+      temperature_names.emplace_back("Receiving board RT1");
+      temperature_names.emplace_back("Top circuit RT1");
+      temperature_names.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  std::vector<std::thread> thread_pool{};
+  thread_pool.emplace_back([this] {
+    auto result = hw_interface_.GetInventory();
+    current_inventory.reset(new HesaiInventory(result));
+    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
+    RCLCPP_INFO_STREAM(this->get_logger(), result);
+    info_model = result.get_str_model();
+    info_serial = std::string(result.sn.begin(), result.sn.end());
+    hw_interface_.SetTargetModel(result.model);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
+    InitializeHesaiDiagnostics();
+  });
+  for (std::thread & th : thread_pool) {
+    th.join();
+  }
+
+  set_param_res_ = this->add_on_set_parameters_callback(
+    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+}
+}
+
+void HesaiRosWrapper::ReceiveScanMsgCallback(
+  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
+{
+  auto t_start = std::chrono::high_resolution_clock::now();
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
+    driver_ptr_->ConvertScanToPointcloud(scan_msg);
+  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+
+  if (pointcloud == nullptr) {
+    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
+    return;
+  };
+  if (
+    nebula_points_pub_->get_subscription_count() > 0 ||
+    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+  }
+  if (
+    aw_points_base_pub_->get_subscription_count() > 0 ||
+    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_cloud_xyzi =
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+  }
+  if (
+    aw_points_ex_pub_->get_subscription_count() > 0 ||
+    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_ex_cloud =
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+  }
+
+  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
+}
+
+void HesaiRosWrapper::PublishCloud(
+  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
+{
+  if (pointcloud->header.stamp.sec < 0) {
+    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
+  }
+  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
+  publisher->publish(std::move(pointcloud));
+}
+
+Status HesaiRosWrapper::InitializeCloudDriver(
+  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+{
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
+    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
+  return driver_ptr_->GetStatus();
+}
+
+Status HesaiRosWrapper::InitializeCloudDriver(
+  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
+  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
+  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
+{
+  // driver should be initialized here with proper decoder
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
+    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
+    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+  return driver_ptr_->GetStatus();
+}
+
+Status HesaiRosWrapper::GetStatus() { return wrapper_status_; }
+
+/// decoder
+Status HesaiRosWrapper::GetParameters(
+  drivers::HesaiSensorConfiguration & sensor_configuration)
+{
+  ///////////////////////////////////////////////
+  // Define and get ROS parameters
+  ///////////////////////////////////////////////
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("sensor_model", "");
+    sensor_configuration.sensor_model =
+      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("return_mode", "", descriptor);
+    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
+    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
+    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
+    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
+    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
+    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
+    rcl_interfaces::msg::FloatingPointRange range;
+    range.set__from_value(0).set__to_value(360).set__step(0.01);
+    descriptor.floating_point_range = {range};
+    this->declare_parameter<double>("scan_phase", 0., descriptor);
+    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("calibration_file", "", descriptor);
+    calibration_file_path =
+      this->get_parameter("calibration_file").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("min_range", 0.3, descriptor);
+    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("max_range", 300., descriptor);
+    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
+    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::IntegerRange range;
+    RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
+    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
+      descriptor.additional_constraints = "200, 300, 400, 500";
+      // range.set__from_value(200).set__to_value(500).set__step(100);
+      // descriptor.integer_range = {range}; //todo
+      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+    } else {
+      descriptor.additional_constraints = "300, 600, 1200";
+      // range.set__from_value(300).set__to_value(1200).set__step(300);
+      // descriptor.integer_range = {range}; //todo
+      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+    }
+    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(360).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(360).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
+  }
+  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("correction_file", "", descriptor);
+    correction_file_path = this->get_parameter("correction_file").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
+    rcl_interfaces::msg::FloatingPointRange range;
+    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
+    descriptor.floating_point_range = {range};
+    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
+    sensor_configuration.dual_return_distance_threshold =
+      this->get_parameter("dual_return_distance_threshold").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("launch_hw", "", descriptor);
+    launch_hw_ = this->get_parameter("launch_hw").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("setup_sensor", true, descriptor);
+    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
+    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("retry_hw", true, descriptor);
+    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_profile", "");
+    sensor_configuration.ptp_profile =
+      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_transport_type", "");
+    sensor_configuration.ptp_transport_type =
+      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
+    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
+    }
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_switch_type", "");
+    sensor_configuration.ptp_switch_type =
+      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(127).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
+    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
+    this->diag_span_ = this->get_parameter("diag_span").as_int();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
+    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
+  }
+
+  ///////////////////////////////////////////////
+  // Validate ROS parameters
+  ///////////////////////////////////////////////
+
+  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
+    return Status::INVALID_SENSOR_MODEL;
+  }
+  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
+    return Status::INVALID_ECHO_MODE;
+  }
+  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+
+  ///////////////////////////////////////////////
+  // Decoder-specific setup
+  ///////////////////////////////////////////////
+
+  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
+    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
+
+  ///////////////////////////////////////////////
+  // HW Interface specific setup
+  ///////////////////////////////////////////////
+
+  ///////////////////////////////////////////////
+  // HW Monitor specific setup
+  ///////////////////////////////////////////////
+
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::GetCalibrationData(
+  drivers::HesaiCalibrationConfiguration & calibration_configuration,
+  drivers::HesaiCorrection & correction_configuration) {
+    calibration_configuration.calibration_file = calibration_file_path; //todo
+
+    bool run_local = !launch_hw_;
+  if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
+    std::string calibration_file_path_from_sensor;
+    if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
+      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
+      calibration_file_path_from_sensor += "_from_sensor";
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
+    }
+    if(launch_hw_) {
+      run_local = false;
+      RCLCPP_INFO_STREAM(
+        this->get_logger(), "Trying to acquire calibration data from sensor: '"
+        << sensor_cfg_ptr_->sensor_ip << "'");
+      std::future<void> future = std::async(std::launch::async,
+                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
+                                                auto str = hw_interface_.GetLidarCalibrationString();
+                                                  auto rt = calibration_configuration.SaveFileFromString(
+                                                    calibration_file_path_from_sensor, str);
+                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
+                                                  if (rt == Status::OK) {
+                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
+                                                      << calibration_file_path_from_sensor << "\n");
+                                                  } else {
+                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
+                                                      << calibration_file_path_from_sensor << "\n");
+                                                  }
+                                                  rt = calibration_configuration.LoadFromString(str);
+                                                  if (rt == Status::OK) {
+                                                    RCLCPP_INFO_STREAM(get_logger(),
+                                                                        "LoadFromString success:" << str << "\n");
+                                                  } else {
+                                                    RCLCPP_ERROR_STREAM(get_logger(),
+                                                                        "LoadFromString failed:" << str << "\n");
+                                                  }
+                                            });
+      std::future_status status;
+      status = future.wait_for(std::chrono::milliseconds(5000));
+      if (status == std::future_status::timeout) {
+        std::cerr << "# std::future_status::timeout\n";
+        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
+        run_local = true;
+      } else if (status == std::future_status::ready && !run_local) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Acquired calibration data from sensor: '"
+          << sensor_cfg_ptr_->sensor_ip << "'");
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "The calibration has been saved in '"
+          << calibration_file_path_from_sensor << "'");
+      }
+    }
+    if(run_local) {
+      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
+      bool run_org = false;
+      if (calibration_file_path_from_sensor.empty()) {
+        run_org = true;
+      } else {
+        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
+        auto cal_status =
+          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+
+        if (cal_status != Status::OK) {
+          run_org = true;
+        }else{
+          RCLCPP_INFO_STREAM(
+            this->get_logger(), "Load calibration data from: '"
+                                  << calibration_file_path_from_sensor << "'");
+        }
+      }
+      if(run_org) {
+        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
+        if (calibration_configuration.calibration_file.empty()) {
+          RCLCPP_ERROR_STREAM(
+            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
+          return Status::INVALID_CALIBRATION_FILE;
+        } else {
+          auto cal_status =
+            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
+
+          if (cal_status != Status::OK) {
+            RCLCPP_ERROR_STREAM(
+              this->get_logger(),
+              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
+            return cal_status;
+          }else{
+            RCLCPP_INFO_STREAM(
+              this->get_logger(), "Load calibration data from: '"
+                                    << calibration_configuration.calibration_file << "'");
+          }
+        }
+      }
+    }
+  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
+    std::string correction_file_path_from_sensor;
+    if (launch_hw_ && !correction_file_path.empty()) {
+      int ext_pos = correction_file_path.find_last_of('.');
+      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
+      correction_file_path_from_sensor += "_from_sensor";
+      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
+    }
+    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
+      if (launch_hw_) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Trying to acquire calibration data from sensor");
+        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
+        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
+        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
+        if(rt == Status::OK)
+        {
+          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
+        }
+        else
+        {
+          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
+          run_local = true;
+        }
+        rt = correction_configuration.LoadFromBinary(received_bytes);
+        if(rt == Status::OK)
+        {
+          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
+          run_local = false;
+        }
+        else
+        {
+          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
+          run_local = true;
+        }
+      }else{
+        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
+        run_local = true;
+      }
+    });
+    if (!run_local) {
+      std::future_status status;
+      status = future.wait_for(std::chrono::milliseconds(8000));
+      if (status == std::future_status::timeout) {
+        std::cerr << "# std::future_status::timeout\n";
+        run_local = true;
+      } else if (status == std::future_status::ready && !run_local) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Acquired correction data from sensor: '"
+          << sensor_cfg_ptr_->sensor_ip << "'");
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "The correction has been saved in '"
+          << correction_file_path_from_sensor << "'");
+      }
+    }
+    if(run_local) {
+      bool run_org = false;
+      if (correction_file_path_from_sensor.empty()) {
+        run_org = true;
+      } else {
+        auto cal_status =
+          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+
+        if (cal_status != Status::OK) {
+          run_org = true;
+        }else{
+          RCLCPP_INFO_STREAM(
+            this->get_logger(), "Load correction data from: '"
+                                  << correction_file_path_from_sensor << "'");
+        }
+      }
+      if(run_org) {
+        if (correction_file_path.empty()) {
+          RCLCPP_ERROR_STREAM(
+            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
+          return Status::INVALID_CALIBRATION_FILE;
+        } else {
+          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
+
+          if (cal_status != Status::OK) {
+            RCLCPP_ERROR_STREAM(
+              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
+            return cal_status;
+          }else{
+            RCLCPP_INFO_STREAM(
+              this->get_logger(), "Load correction data from: '"
+                                    << correction_file_path << "'");
+          }
+        }
+      }
+    }
+  } // end AT128
+
+  return Status::OK;
+  }
+
+HesaiRosWrapper::~HesaiRosWrapper() {
+  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
+  hw_interface_.FinalizeTcpDriver();
+}
+
+Status HesaiRosWrapper::StreamStart()
+{
+  if (Status::OK == interface_status_) {
+    interface_status_ = hw_interface_.CloudInterfaceStart();
+  }
+  return interface_status_;
+}
+
+Status HesaiRosWrapper::StreamStop() { return Status::OK; }
+Status HesaiRosWrapper::Shutdown() { return Status::OK; }
+
+Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
+  const drivers::SensorConfigurationBase & sensor_configuration)
+{
+  std::stringstream ss;
+  ss << sensor_configuration;
+  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
+  const drivers::SensorConfigurationBase & sensor_configuration)
+{
+  return Status::OK;
+}
+
+void HesaiRosWrapper::ReceiveScanDataCallback(
+  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
+{
+  // Publish
+  scan_buffer->header.frame_id = sensor_cfg_ptr_->frame_id;
+  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
+  pandar_scan_pub_->publish(std::move(scan_buffer));
+}
+
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
+  const std::vector<rclcpp::Parameter> & p)
+{
+  std::scoped_lock lock(mtx_config_);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
+  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(this->get_logger(), p);
+
+  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param = 
+    std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
+  std::string sensor_model_str;
+  std::string return_mode_str;
+  if (
+    get_param(p, "sensor_model", sensor_model_str) |
+    get_param(p, "return_mode", return_mode_str) | 
+    get_param(p, "host_ip", new_param->host_ip) |
+    get_param(p, "sensor_ip", new_param->sensor_ip) |
+    get_param(p, "frame_id", new_param->frame_id) |
+    get_param(p, "data_port", new_param->data_port) |
+    get_param(p, "gnss_port", new_param->gnss_port) |
+    get_param(p, "scan_phase", new_param->scan_phase) |
+    get_param(p, "packet_mtu_size", new_param->packet_mtu_size) |
+    get_param(p, "rotation_speed", new_param->rotation_speed) |
+    get_param(p, "cloud_min_angle", new_param->cloud_min_angle) |
+    get_param(p, "cloud_max_angle", new_param->cloud_max_angle) |
+    get_param(p, "dual_return_distance_threshold", new_param->dual_return_distance_threshold)) {
+    if (0 < sensor_model_str.length())
+      new_param->sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
+    if (0 < return_mode_str.length())
+      new_param->return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
+
+    sensor_cfg_ptr_.swap(new_param);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
+    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
+    hw_interface_.SetSensorConfiguration(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    hw_interface_.CheckAndSetConfig();
+  }
+
+  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
+  result->successful = true;
+  result->reason = "success";
+
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
+
+  return *result;
+}
+
+std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
+{
+  std::scoped_lock lock(mtx_config_);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
+  std::ostringstream os_sensor_model;
+  os_sensor_model << sensor_cfg_ptr_->sensor_model;
+  std::ostringstream os_return_mode;
+  os_return_mode << sensor_cfg_ptr_->return_mode;
+  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
+  auto results = set_parameters(
+    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
+     rclcpp::Parameter("return_mode", os_return_mode.str()),
+     rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
+     rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
+     rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
+     rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
+     rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
+     rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
+     rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
+     rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
+     rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
+     rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
+     rclcpp::Parameter(
+       "dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold)});
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
+  return results;
+}
+
+void HesaiRosWrapper::InitializeHesaiDiagnostics()
+{
+  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
+  using std::chrono_literals::operator""s;
+  std::ostringstream os;
+  auto hardware_id = info_model + ": " + info_serial;
+  diagnostics_updater_.setHardwareID(hardware_id);
+  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
+
+  diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
+  diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
+  diagnostics_updater_.add(
+    "hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
+
+  current_status.reset();
+  current_monitor.reset();
+  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+
+  auto fetch_diag_from_sensor = [this](){ 
+    OnHesaiStatusTimer(); 
+    if (hw_interface_.UseHttpGetLidarMonitor()) {
+      OnHesaiLidarMonitorTimerHttp();
+    } else {
+      OnHesaiLidarMonitorTimer();
+    }
+  };
+
+  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
+    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
+    this->get_node_base_interface()->get_context());
+  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
+
+  if (hw_interface_.UseHttpGetLidarMonitor()) {
+    diagnostics_updater_.add(
+      "hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
+  } else {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
+  }
+
+  auto on_timer_update = [this] {
+    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
+    auto now = this->get_clock()->now();
+    auto dif = (now - *current_status_time).seconds();
+
+    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
+
+    if (diag_span_ * 2.0 < dif * 1000) {
+      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
+    } else {
+      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
+    }
+    dif = (now - *current_lidar_monitor_time).seconds();
+    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
+    if (diag_span_ * 2.0 < dif * 1000) {
+      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
+    } else {
+      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
+    }
+    diagnostics_updater_.force_update();
+  };
+  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
+    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
+    this->get_node_base_interface()->get_context());
+  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
+
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
+}
+
+std::string HesaiRosWrapper::GetPtreeValue(
+  boost::property_tree::ptree * pt, const std::string & key)
+{
+  boost::optional<std::string> value = pt->get_optional<std::string>(key);
+  if (value) {
+    return value.get();
+  } else {
+    return not_supported_message;
+  }
+}
+std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
+{
+  std::stringstream ss;
+  ss << std::fixed << std::setprecision(pre) << val;
+  return ss.str();
+}
+
+void HesaiRosWrapper::OnHesaiStatusTimer()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
+  try {
+    auto result = hw_interface_.GetLidarStatus();
+    std::scoped_lock lock(mtx_status);
+    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_status.reset(new HesaiLidarStatus(result));
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
+}
+
+void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
+  try {
+    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
+      std::scoped_lock lock(mtx_lidar_monitor);
+      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+      current_lidar_monitor_tree =
+        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
+    });
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
+}
+
+void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
+  try {
+    auto ios = std::make_shared<boost::asio::io_service>();
+    auto result = hw_interface_.GetLidarMonitor();
+    std::scoped_lock lock(mtx_lidar_monitor);
+    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_monitor.reset(new HesaiLidarMonitor(result));
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
+}
+
+void HesaiRosWrapper::HesaiCheckStatus(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+
+    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
+    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
+    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckPtp(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    auto gps_status = current_status->get_str_gps_pps_lock();
+    auto gprmc_status = current_status->get_str_gps_gprmc_status();
+    auto ptp_status = current_status->get_str_ptp_clock_status();
+    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
+    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
+    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
+    diagnostics.add("gps_pps_lock", gps_status);
+    diagnostics.add("gps_gprmc_status", gprmc_status);
+    diagnostics.add("ptp_clock_status", ptp_status);
+    if (gps_status != "UNKNOWN") {
+      msg.emplace_back("gps_pps_lock: " + gps_status);
+    }
+    if (gprmc_status != "UNKNOWN") {
+      msg.emplace_back("gprmc_status: " + gprmc_status);
+    }
+    if (ptp_status != "UNKNOWN") {
+      msg.emplace_back("ptp_status: " + ptp_status);
+    }
+    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
+      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckTemperature(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    for (size_t i = 0; i < current_status->temperature.size(); i++) {
+      diagnostics.add(
+        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckRpm(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckVoltageHttp(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor);
+  if (current_lidar_monitor_tree) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    std::string key = "";
+
+    std::string mes;
+    key = "lidarInCur";
+    try {
+      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+    } catch (boost::bad_lexical_cast & ex) {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = error_message + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+    key = "lidarInVol";
+    try {
+      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+    } catch (boost::bad_lexical_cast & ex) {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = error_message + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckVoltage(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor);
+  if (current_monitor) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add(
+      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
+    diagnostics.add(
+      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
+    diagnostics.add(
+      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
+}  // namespace ros
+}  // namespace nebula

From f99755538dbb1c05bb7e1e167d2bcc67dfcd8739 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 18:34:02 +0900
Subject: [PATCH 004/122] refactor: remove pandarScan pub/sub, decode one
 packet at a time

---
 .../decoders/hesai_decoder.hpp                | 14 +++---
 .../decoders/hesai_scan_decoder.hpp           |  4 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |  4 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    | 25 +++++-----
 .../hesai_hw_interface.hpp                    |  6 +--
 .../hesai_hw_interface.cpp                    | 48 ++-----------------
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  6 +--
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 29 +++++------
 8 files changed, 41 insertions(+), 95 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index b81b45d44..8f28856e8 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -52,17 +52,17 @@ class HesaiDecoder : public HesaiScanDecoder
     block_firing_offset_ns_;
 
   /// @brief Validates and parse PandarPacket. Currently only checks size, not checksums etc.
-  /// @param pandar_packet The incoming PandarPacket
+  /// @param packet The incoming PandarPacket
   /// @return Whether the packet was parsed successfully
-  bool parsePacket(const pandar_msgs::msg::PandarPacket & pandar_packet)
+  bool parsePacket(const std::vector<uint8_t> & packet)
   {
-    if (pandar_packet.size < sizeof(typename SensorT::packet_t)) {
+    if (packet.size() < sizeof(typename SensorT::packet_t)) {
       RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch:" << pandar_packet.size << " | Expected at least:"
+        logger_, "Packet size mismatch:" << packet.size() << " | Expected at least:"
                                          << sizeof(typename SensorT::packet_t));
       return false;
     }
-    if (std::memcpy(&packet_, pandar_packet.data.data(), sizeof(typename SensorT::packet_t))) {
+    if (std::memcpy(&packet_, packet.data(), sizeof(typename SensorT::packet_t))) {
       // FIXME(mojomex) do validation?
       // RCLCPP_DEBUG(logger_, "Packet parsed successfully");
       return true;
@@ -222,9 +222,9 @@ class HesaiDecoder : public HesaiScanDecoder
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
   }
 
-  int unpack(const pandar_msgs::msg::PandarPacket & pandar_packet) override
+  int unpack(const std::vector<uint8_t> & packet) override
   {
-    if (!parsePacket(pandar_packet)) {
+    if (!parsePacket(packet)) {
       return -1;
     }
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
index f0b4e3f8b..9d06c2702 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
@@ -26,9 +26,9 @@ class HesaiScanDecoder
   HesaiScanDecoder() = default;
 
   /// @brief Parses PandarPacket and add its points to the point cloud
-  /// @param pandar_packet The incoming PandarPacket
+  /// @param packet The incoming PandarPacket
   /// @return The last azimuth processed
-  virtual int unpack(const pandar_msgs::msg::PandarPacket & pandar_packet) = 0;
+  virtual int unpack(const std::vector<uint8_t> & packet) = 0;
 
   /// @brief Indicates whether one full scan is ready
   /// @return Whether a scan is ready
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index c83788965..a3f37cd32 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -54,8 +54,8 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ConvertScanToPointcloud(
-    const std::shared_ptr<pandar_msgs::msg::PandarScan> & pandar_scan);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
+    const std::vector<uint8_t> & packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 49be4adac..61b969ed7 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -72,8 +72,8 @@ HesaiDriver::HesaiDriver(
   }
 }
 
-std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ConvertScanToPointcloud(
-  const std::shared_ptr<pandar_msgs::msg::PandarScan> & pandar_scan)
+std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
+  const std::vector<uint8_t> & packet)
 {
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
   auto logger = rclcpp::get_logger("HesaiDriver");
@@ -83,20 +83,17 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ConvertScanToPoint
     return pointcloud;
   }
 
-  int cnt = 0, last_azimuth = 0;
-  for (auto & packet : pandar_scan->packets) {
-    last_azimuth = scan_decoder_->unpack(packet);
-    if (scan_decoder_->hasScanned()) {
-      pointcloud = scan_decoder_->getPointcloud();
-      cnt++;
-    }
+  scan_decoder_->unpack(packet);
+  if (scan_decoder_->hasScanned()) {
+    pointcloud = scan_decoder_->getPointcloud();
   }
 
-  if (cnt == 0) {
-    RCLCPP_ERROR_STREAM(
-      logger, "Scanned " << pandar_scan->packets.size() << " packets, but no "
-                         << "pointclouds were generated. Last azimuth: " << last_azimuth);
-  }
+  // todo
+  // if (cnt == 0) {
+  //   RCLCPP_ERROR_STREAM(
+  //     logger, "Scanned " << pandar_scan->packets.size() << " packets, but no "
+  //                        << "pointclouds were generated. Last azimuth: " << last_azimuth);
+  // }
 
   return pointcloud;
 }
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 2f5639373..f65daf077 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -102,8 +102,8 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
   std::function<bool(size_t)>
     is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
-  std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan> buffer)>
-    scan_reception_callback_; /**This function pointer is called when the scan is complete*/
+  std::function<void(const std::vector<uint8_t> & buffer)>
+    cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   int prev_phase_{};
 
@@ -192,7 +192,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   /// @param scan_callback Callback function
   /// @return Resulting status
   Status RegisterScanCallback(
-    std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan>)> scan_callback);
+    std::function<void(const std::vector<uint8_t> &)> scan_callback);
   /// @brief Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION
   /// @return Resulting status
   std::string GetLidarCalibrationString();
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index a5e5bd068..bf3060afc 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -218,61 +218,19 @@ Status HesaiHwInterface::SensorInterfaceStart()
 }
 
 Status HesaiHwInterface::RegisterScanCallback(
-  std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan>)> scan_callback)
+  std::function<void(const std::vector<uint8_t> &)> scan_callback)
 {
-  scan_reception_callback_ = std::move(scan_callback);
+  cloud_packet_callback_ = std::move(scan_callback);
   return Status::OK;
 }
 
 void HesaiHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
 {
-  int scan_phase = static_cast<int>(sensor_configuration_->scan_phase * 100.0);
   if (!is_valid_packet_(buffer.size())) {
     PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
     return;
   }
-  const uint32_t buffer_size = buffer.size();
-  pandar_msgs::msg::PandarPacket pandar_packet;
-  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, pandar_packet.data.begin());
-  pandar_packet.size = buffer_size;
-  auto now = std::chrono::system_clock::now();
-  auto now_secs = std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count();
-  auto now_nanosecs =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-  pandar_packet.stamp.sec = static_cast<int>(now_secs);
-  pandar_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1'000'000'000);
-  scan_cloud_ptr_->packets.emplace_back(pandar_packet);
-
-  int current_phase = 0;
-  bool comp_flg = false;
-
-  const auto & data = scan_cloud_ptr_->packets.back().data;
-  current_phase = (data[azimuth_index_] & 0xff) + ((data[azimuth_index_ + 1] & 0xff) << 8);
-  if (is_solid_state) {
-    current_phase = (static_cast<int>(current_phase) + 36000 - 0) % 12000;
-    if (current_phase >= prev_phase_ || scan_cloud_ptr_->packets.size() < 2) {
-      prev_phase_ = current_phase;
-    } else {
-      comp_flg = true;
-    }
-  } else {
-    current_phase = (static_cast<int>(current_phase) + 36000 - scan_phase) % 36000;
-
-    if (current_phase >= prev_phase_ || scan_cloud_ptr_->packets.size() < 2) {
-      prev_phase_ = current_phase;
-    } else {
-      comp_flg = true;
-    }
-  }
-
-  if (comp_flg) {  // Scan complete
-    if (scan_reception_callback_) {
-      scan_cloud_ptr_->header.stamp = scan_cloud_ptr_->packets.front().stamp;
-      // Callback
-      scan_reception_callback_(std::move(scan_cloud_ptr_));
-      scan_cloud_ptr_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-    }
-  }
+  cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
 {
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index f23d1f9c4..adce54b8f 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -57,10 +57,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
   ~HesaiRosWrapper();
 
-  /// @brief Callback for PandarScan subscriber
-  /// @param scan_msg Received PandarScan
-  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
-
   /// @brief Get current status of this driver
   /// @return Current status
   Status GetStatus();
@@ -133,7 +129,7 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving PandarScan
   /// @param scan_buffer Received PandarScan
-  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
+  void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
 
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 4fc2a12df..b809bccf8 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -69,7 +69,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 #endif
 
   hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
   pandar_scan_pub_ =
     this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
 
@@ -117,9 +117,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
   rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                          qos_profile);
-  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
-    "pandar_packets", qos,
-    std::bind(&HesaiRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
+
   nebula_points_pub_ =
     this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
   aw_points_base_pub_ =
@@ -198,16 +196,22 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 }
 }
 
-void HesaiRosWrapper::ReceiveScanMsgCallback(
-  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(
+  const std::vector<uint8_t> & packet)
 {
+  // Driver is not initialized yet
+  if (!driver_ptr_) {
+    return;
+  }
+
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ConvertScanToPointcloud(scan_msg);
+    driver_ptr_->ParseCloudPacket(packet);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
   if (pointcloud == nullptr) {
-    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
+    // todo
+    // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
     return;
   };
   if (
@@ -845,15 +849,6 @@ Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is neede
   return Status::OK;
 }
 
-void HesaiRosWrapper::ReceiveScanDataCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
-{
-  // Publish
-  scan_buffer->header.frame_id = sensor_cfg_ptr_->frame_id;
-  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
-  pandar_scan_pub_->publish(std::move(scan_buffer));
-}
-
 rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {

From 39d050cff12b3e7b3ed4fd39e34b22d204f8c710 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Tue, 26 Mar 2024 16:31:25 +0900
Subject: [PATCH 005/122] reword later

---
 nebula_ros/CMakeLists.txt                     |   1 +
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  28 +-
 nebula_ros/launch/hesai_launch_all_hw.xml     |   4 -
 nebula_ros/package.xml                        |   1 +
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 557 +++++++++---------
 scripts/plot_times.py                         |   7 +-
 6 files changed, 309 insertions(+), 289 deletions(-)

diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 18ce06aad..1bd697624 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(nebula_decoders REQUIRED)
 find_package(nebula_hw_interfaces REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
+find_package(nebula_msgs REQUIRED)
 
 include_directories(
         include
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index adce54b8f..004c717cd 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -15,8 +15,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
+#include "nebula_msgs/msg/nebula_packet.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
@@ -72,23 +71,21 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   Status Shutdown() override;
 
 private:
-  /// @brief Initializing ros wrapper
+  /// @brief Initialize pointcloud decoder
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
+  /// @param correction_configuration CorrectionConfiguration for this driver (only for AT128, ignored otherwise)
   /// @return Resulting status
   Status InitializeCloudDriver(
     const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
     const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
+    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
+
+  Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) {
+      return InitializeCloudDriver(sensor_configuration, calibration_configuration, nullptr);
+    }
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
@@ -188,7 +185,10 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
+
+  rclcpp::Publisher<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_pub_;
+  rclcpp::Subscription<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_sub_;
+
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index 579852fb8..a74eb9813 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -27,8 +27,6 @@
     <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
     <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
     <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
-    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
-    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
     <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
     <arg name="debug_logging" default="False" description="Launches Monitor/HW Interfaces and calibration acquisition"/>
 
@@ -55,7 +53,6 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
         <param name="retry_hw" value="$(var retry_hw)"/>
         <param name="ptp_profile" value="$(var ptp_profile)"/>
         <param name="ptp_domain" value="$(var ptp_domain)"/>
@@ -63,6 +60,5 @@
         <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
 
         <param name="diag_span" value="$(var diag_span)"/>
-        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
     </node>
 </launch>
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 87bc000c9..54df70ea9 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -31,6 +31,7 @@
   <depend>velodyne_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>yaml-cpp</depend>
+  <depend>nebula_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index b809bccf8..ce81d6b3e 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -5,7 +5,9 @@ namespace nebula
 namespace ros
 {
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
+: rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
+  hw_interface_(),
+  diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
@@ -14,33 +16,29 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
   sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
 
   // hwiface
-{
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-#if not defined(TEST_PCAP)
-  Status rt = hw_interface_.InitializeTcpDriver();
-  if(this->retry_hw_)
   {
-    int cnt = 0;
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-    while(rt == Status::ERROR_1)
-    {
-      cnt++;
-      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      rt = hw_interface_.InitializeTcpDriver();
+    if (Status::OK != interface_status_) {
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+      return;
+    }
+    hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+    hw_interface_.SetSensorConfiguration(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    Status rt = hw_interface_.InitializeTcpDriver();
+    if (this->retry_hw_) {
+      int cnt = 0;
+      RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+      while (rt == Status::ERROR_1) {
+        cnt++;
+        std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+        RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+        rt = hw_interface_.InitializeTcpDriver();
+      }
     }
-  }
 
-  if(rt != Status::ERROR_1){
-    try{
-      std::vector<std::thread> thread_pool{};
+    if (rt != Status::ERROR_1) {
+      try {
+        std::vector<std::thread> thread_pool{};
         thread_pool.emplace_back([this] {
           auto result = hw_interface_.GetInventory();
           RCLCPP_INFO_STREAM(get_logger(), result);
@@ -50,74 +48,60 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
           th.join();
         }
 
+      } catch (...) {
+        std::cout << "catch (...) in parent" << std::endl;
+        RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
+      }
+      if (this->setup_sensor) {
+        hw_interface_.CheckAndSetConfig();
+        updateParameters();
+      }
+    } else {
+      RCLCPP_ERROR_STREAM(
+        get_logger(),
+        "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+      hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
     }
-    catch (...)
-    {
-      std::cout << "catch (...) in parent" << std::endl;
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  }
-  else
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
-  }
-#endif
-
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  pandar_scan_pub_ =
-    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-
-#if not defined(TEST_PCAP)
-  if (this->setup_sensor) {
-    set_param_res_ = this->add_on_set_parameters_callback(
-      std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
   }
-#endif
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-}
   // decoder
   {
-  drivers::HesaiCalibrationConfiguration calibration_configuration;
-  drivers::HesaiCorrection correction_configuration;
-
-  wrapper_status_ =
-    GetCalibrationData(calibration_configuration, correction_configuration);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-  calibration_cfg_ptr_ =
-    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+    drivers::HesaiCalibrationConfiguration calibration_configuration;
+    drivers::HesaiCorrection correction_configuration;
 
+    wrapper_status_ = GetCalibrationData(calibration_configuration, correction_configuration);
+    if (Status::OK != wrapper_status_) {
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+      return;
+    }
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    calibration_cfg_ptr_ =
+      std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+    // Will be left empty for AT128, and ignored by all decoders except AT128
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
+
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
     wrapper_status_ = InitializeCloudDriver(
       std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
       std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
       std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-  } else {
-    wrapper_status_ = InitializeCloudDriver(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
-  }
+
+    RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+    StreamStart();
+    hw_interface_.RegisterScanCallback(
+      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
   rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                          qos_profile);
 
+  packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
+    "hesai_packets", rclcpp::SensorDataQoS());
+
+  packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+    "hesai_packets", rclcpp::SensorDataQoS(), [](nebula_msgs::msg::NebulaPacket::UniquePtr){});
+
   nebula_points_pub_ =
     this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
   aw_points_base_pub_ =
@@ -194,11 +178,18 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
-}
 
-void HesaiRosWrapper::ReceiveCloudPacketCallback(
-  const std::vector<uint8_t> & packet)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
+  auto t_received = std::chrono::high_resolution_clock::now().time_since_epoch().count();
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>(packet.size());
+  msg_ptr->stamp.sec = t_received / 1'000'000'000;
+  msg_ptr->stamp.nanosec = t_received % 1'000'000'000;
+  // TODO(mojomex) this copy could be avoided if transport_drivers would give us a non-const vector
+  std::copy(packet.begin(), packet.end(), msg_ptr->data.begin());
+  packet_pub_->publish(std::move(msg_ptr));
+
+  //todo
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
@@ -209,6 +200,12 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
     driver_ptr_->ParseCloudPacket(packet);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
+  auto t_end = std::chrono::high_resolution_clock::now();
+  auto runtime = t_end - t_start;
+  t_start = t_end;
+  RCLCPP_DEBUG(
+    get_logger(), "PROFILING {'d_decode_packet': %lu}", runtime.count());
+
   if (pointcloud == nullptr) {
     // todo
     // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
@@ -237,8 +234,8 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
+      pointcloud, std::get<1>(pointcloud_ts));
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
@@ -246,8 +243,9 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
   }
 
-  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
+  runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(
+    get_logger(), "PROFILING {'d_convert_pc': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void HesaiRosWrapper::PublishCloud(
@@ -261,22 +259,11 @@ void HesaiRosWrapper::PublishCloud(
   publisher->publish(std::move(pointcloud));
 }
 
-Status HesaiRosWrapper::InitializeCloudDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
 Status HesaiRosWrapper::InitializeCloudDriver(
   const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
   const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
   const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
 {
-  // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
     std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
@@ -284,11 +271,12 @@ Status HesaiRosWrapper::InitializeCloudDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosWrapper::GetStatus() { return wrapper_status_; }
+Status HesaiRosWrapper::GetStatus()
+{
+  return wrapper_status_;
+}
 
-/// decoder
-Status HesaiRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
+Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
 {
   ///////////////////////////////////////////////
   // Define and get ROS parameters
@@ -377,8 +365,7 @@ Status HesaiRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path =
-      this->get_parameter("calibration_file").as_string();
+    calibration_file_path = this->get_parameter("calibration_file").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -492,16 +479,6 @@ Status HesaiRosWrapper::GetParameters(
     this->declare_parameter<bool>("setup_sensor", true, descriptor);
     this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
   }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
-    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
-  }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
@@ -528,9 +505,9 @@ Status HesaiRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
-    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+    sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportTypeFromString(
+      this->get_parameter("ptp_transport_type").as_string());
+    if (static_cast<int>(sensor_configuration.ptp_profile) > 0) {
       sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
     }
   }
@@ -565,32 +542,27 @@ Status HesaiRosWrapper::GetParameters(
     this->diag_span_ = this->get_parameter("diag_span").as_int();
   }
 
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
-    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
-  }
-
   ///////////////////////////////////////////////
   // Validate ROS parameters
   ///////////////////////////////////////////////
 
-  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
+  if (
+    sensor_configuration.ptp_transport_type ==
+    nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(),
+      "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
+      "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
   if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
@@ -603,69 +575,61 @@ Status HesaiRosWrapper::GetParameters(
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  ///////////////////////////////////////////////
-  // Decoder-specific setup
-  ///////////////////////////////////////////////
-
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
     std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
 
   hw_interface_.SetSensorConfiguration(
     std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
 
-  ///////////////////////////////////////////////
-  // HW Interface specific setup
-  ///////////////////////////////////////////////
-
-  ///////////////////////////////////////////////
-  // HW Monitor specific setup
-  ///////////////////////////////////////////////
-
   RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
   return Status::OK;
 }
 
 Status HesaiRosWrapper::GetCalibrationData(
   drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration) {
-    calibration_configuration.calibration_file = calibration_file_path; //todo
+  drivers::HesaiCorrection & correction_configuration)
+{
+  calibration_configuration.calibration_file = calibration_file_path;  // todo
 
-    bool run_local = !launch_hw_;
+  bool run_local = !launch_hw_;
   if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
     std::string calibration_file_path_from_sensor;
     if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
       int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
+      calibration_file_path_from_sensor +=
+        calibration_configuration.calibration_file.substr(0, ext_pos);
       calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(
+        ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
     }
-    if(launch_hw_) {
+    if (launch_hw_) {
       run_local = false;
       RCLCPP_INFO_STREAM(
-        this->get_logger(), "Trying to acquire calibration data from sensor: '"
-        << sensor_cfg_ptr_->sensor_ip << "'");
-      std::future<void> future = std::async(std::launch::async,
-                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-                                                auto str = hw_interface_.GetLidarCalibrationString();
-                                                  auto rt = calibration_configuration.SaveFileFromString(
-                                                    calibration_file_path_from_sensor, str);
-                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  }
-                                                  rt = calibration_configuration.LoadFromString(str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(),
-                                                                        "LoadFromString success:" << str << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(),
-                                                                        "LoadFromString failed:" << str << "\n");
-                                                  }
-                                            });
+        this->get_logger(),
+        "Trying to acquire calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
+      std::future<void> future = std::async(
+        std::launch::async,
+        [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
+          auto str = hw_interface_.GetLidarCalibrationString();
+          auto rt =
+            calibration_configuration.SaveFileFromString(calibration_file_path_from_sensor, str);
+          RCLCPP_ERROR_STREAM(get_logger(), str);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(),
+              "SaveFileFromString success:" << calibration_file_path_from_sensor << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(),
+              "SaveFileFromString failed:" << calibration_file_path_from_sensor << "\n");
+          }
+          rt = calibration_configuration.LoadFromString(str);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(get_logger(), "LoadFromString success:" << str << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(get_logger(), "LoadFromString failed:" << str << "\n");
+          }
+        });
       std::future_status status;
       status = future.wait_for(std::chrono::milliseconds(5000));
       if (status == std::future_status::timeout) {
@@ -674,36 +638,38 @@ Status HesaiRosWrapper::GetCalibrationData(
         run_local = true;
       } else if (status == std::future_status::ready && !run_local) {
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired calibration data from sensor: '"
-          << sensor_cfg_ptr_->sensor_ip << "'");
+          this->get_logger(),
+          "Acquired calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "The calibration has been saved in '"
-          << calibration_file_path_from_sensor << "'");
+          this->get_logger(),
+          "The calibration has been saved in '" << calibration_file_path_from_sensor << "'");
       }
     }
-    if(run_local) {
+    if (run_local) {
       RCLCPP_WARN_STREAM(get_logger(), "Running locally");
       bool run_org = false;
       if (calibration_file_path_from_sensor.empty()) {
         run_org = true;
       } else {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status =
-          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+        RCLCPP_INFO_STREAM(
+          get_logger(), "Trying to load file: " << calibration_file_path_from_sensor);
+        auto cal_status = calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
 
         if (cal_status != Status::OK) {
           run_org = true;
-        }else{
+        } else {
           RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load calibration data from: '"
-                                  << calibration_file_path_from_sensor << "'");
+            this->get_logger(),
+            "Load calibration data from: '" << calibration_file_path_from_sensor << "'");
         }
       }
-      if(run_org) {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
+      if (run_org) {
+        RCLCPP_INFO_STREAM(
+          get_logger(), "Trying to load file: " << calibration_configuration.calibration_file);
         if (calibration_configuration.calibration_file.empty()) {
           RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
+            this->get_logger(),
+            "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
           return Status::INVALID_CALIBRATION_FILE;
         } else {
           auto cal_status =
@@ -714,54 +680,61 @@ Status HesaiRosWrapper::GetCalibrationData(
               this->get_logger(),
               "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
             return cal_status;
-          }else{
+          } else {
             RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load calibration data from: '"
-                                    << calibration_configuration.calibration_file << "'");
+              this->get_logger(),
+              "Load calibration data from: '" << calibration_configuration.calibration_file << "'");
           }
         }
       }
     }
-  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
+  } else {  // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
     std::string correction_file_path_from_sensor;
     if (launch_hw_ && !correction_file_path.empty()) {
       int ext_pos = correction_file_path.find_last_of('.');
       correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
       correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
+      correction_file_path_from_sensor +=
+        correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
     }
-    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
-      if (launch_hw_) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Trying to acquire calibration data from sensor");
-        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-        rt = correction_configuration.LoadFromBinary(received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-          run_local = false;
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
+    std::future<void> future = std::async(
+      std::launch::async,
+      [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
+        if (launch_hw_) {
+          RCLCPP_INFO_STREAM(this->get_logger(), "Trying to acquire calibration data from sensor");
+          auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
+          RCLCPP_INFO_STREAM(
+            get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
+          auto rt = correction_configuration.SaveFileFromBinary(
+            correction_file_path_from_sensor, received_bytes);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(),
+              "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(),
+              "SaveFileFromBinary failed:" << correction_file_path_from_sensor
+                                           << ". Falling back to offline calibration file.");
+            run_local = true;
+          }
+          rt = correction_configuration.LoadFromBinary(received_bytes);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(), "LoadFromBinary success"
+                              << "\n");
+            run_local = false;
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(), "LoadFromBinary failed"
+                              << ". Falling back to offline calibration file.");
+            run_local = true;
+          }
+        } else {
+          RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
           run_local = true;
         }
-      }else{
-        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-        run_local = true;
-      }
-    });
+      });
     if (!run_local) {
       std::future_status status;
       status = future.wait_for(std::chrono::milliseconds(8000));
@@ -770,30 +743,29 @@ Status HesaiRosWrapper::GetCalibrationData(
         run_local = true;
       } else if (status == std::future_status::ready && !run_local) {
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired correction data from sensor: '"
-          << sensor_cfg_ptr_->sensor_ip << "'");
+          this->get_logger(),
+          "Acquired correction data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "The correction has been saved in '"
-          << correction_file_path_from_sensor << "'");
+          this->get_logger(),
+          "The correction has been saved in '" << correction_file_path_from_sensor << "'");
       }
     }
-    if(run_local) {
+    if (run_local) {
       bool run_org = false;
       if (correction_file_path_from_sensor.empty()) {
         run_org = true;
       } else {
-        auto cal_status =
-          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+        auto cal_status = correction_configuration.LoadFromFile(correction_file_path_from_sensor);
 
         if (cal_status != Status::OK) {
           run_org = true;
-        }else{
+        } else {
           RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load correction data from: '"
-                                  << correction_file_path_from_sensor << "'");
+            this->get_logger(),
+            "Load correction data from: '" << correction_file_path_from_sensor << "'");
         }
       }
-      if(run_org) {
+      if (run_org) {
         if (correction_file_path.empty()) {
           RCLCPP_ERROR_STREAM(
             this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
@@ -805,20 +777,20 @@ Status HesaiRosWrapper::GetCalibrationData(
             RCLCPP_ERROR_STREAM(
               this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
             return cal_status;
-          }else{
+          } else {
             RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '"
-                                    << correction_file_path << "'");
+              this->get_logger(), "Load correction data from: '" << correction_file_path << "'");
           }
         }
       }
     }
-  } // end AT128
+  }  // end AT128
 
   return Status::OK;
-  }
+}
 
-HesaiRosWrapper::~HesaiRosWrapper() {
+HesaiRosWrapper::~HesaiRosWrapper()
+{
   RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
   hw_interface_.FinalizeTcpDriver();
 }
@@ -831,8 +803,14 @@ Status HesaiRosWrapper::StreamStart()
   return interface_status_;
 }
 
-Status HesaiRosWrapper::StreamStop() { return Status::OK; }
-Status HesaiRosWrapper::Shutdown() { return Status::OK; }
+Status HesaiRosWrapper::StreamStop()
+{
+  return Status::OK;
+}
+Status HesaiRosWrapper::Shutdown()
+{
+  return Status::OK;
+}
 
 Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
   const drivers::SensorConfigurationBase & sensor_configuration)
@@ -844,8 +822,63 @@ Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is nee
 }
 
 Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
+  const drivers::SensorConfigurationBase & /* sensor_configuration */)
 {
+  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return Status::ERROR_1;
+  }
+
+  message_sep = ": ";
+  not_supported_message = "Not supported";
+  error_message = "Error";
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names.emplace_back("Bottom circuit board T1");
+      temperature_names.emplace_back("Bottom circuit board T2");
+      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names.emplace_back("Laser emitting board RT_L2");
+      temperature_names.emplace_back("Receiving board RT_R");
+      temperature_names.emplace_back("Receiving board RT2");
+      temperature_names.emplace_back("Top circuit RT3");
+      temperature_names.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names.emplace_back("Bottom circuit RT1");
+      temperature_names.emplace_back("Bottom circuit RT2");
+      temperature_names.emplace_back("Internal Temperature");
+      temperature_names.emplace_back("Laser emitting board RT1");
+      temperature_names.emplace_back("Laser emitting board RT2");
+      temperature_names.emplace_back("Receiving board RT1");
+      temperature_names.emplace_back("Top circuit RT1");
+      temperature_names.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface_.GetInventory();
+  current_inventory.reset(new HesaiInventory(result));
+  current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model = result.get_str_model();
+  info_serial = std::string(result.sn.begin(), result.sn.end());
+  hw_interface_.SetTargetModel(result.model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
+  InitializeHesaiDiagnostics();
   return Status::OK;
 }
 
@@ -858,16 +891,14 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
   RCLCPP_INFO_STREAM(this->get_logger(), p);
 
-  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param = 
+  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param =
     std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
   RCLCPP_INFO_STREAM(this->get_logger(), new_param);
   std::string sensor_model_str;
   std::string return_mode_str;
   if (
-    get_param(p, "sensor_model", sensor_model_str) |
-    get_param(p, "return_mode", return_mode_str) | 
-    get_param(p, "host_ip", new_param->host_ip) |
-    get_param(p, "sensor_ip", new_param->sensor_ip) |
+    get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
+    get_param(p, "host_ip", new_param->host_ip) | get_param(p, "sensor_ip", new_param->sensor_ip) |
     get_param(p, "frame_id", new_param->frame_id) |
     get_param(p, "data_port", new_param->data_port) |
     get_param(p, "gnss_port", new_param->gnss_port) |
@@ -938,8 +969,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
 
   diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
   diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add(
-    "hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
   diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
 
   current_status.reset();
@@ -964,8 +994,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add(
-      "hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
   } else {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
   }
@@ -1030,12 +1059,10 @@ void HesaiRosWrapper::OnHesaiStatusTimer()
     current_status.reset(new HesaiLidarStatus(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"),
-      error.what());
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
       error.what());
   }
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
@@ -1053,8 +1080,7 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
     });
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
       error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
@@ -1080,15 +1106,13 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
       error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
       error.what());
   }
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
 }
 
-void HesaiRosWrapper::HesaiCheckStatus(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1105,8 +1129,7 @@ void HesaiRosWrapper::HesaiCheckStatus(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckPtp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1156,8 +1179,7 @@ void HesaiRosWrapper::HesaiCheckTemperature(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckRpm(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1204,8 +1226,7 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckVoltage(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_monitor);
   if (current_monitor) {
@@ -1224,6 +1245,6 @@ void HesaiRosWrapper::HesaiCheckVoltage(
   }
 }
 
-  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
+RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
 }  // namespace ros
 }  // namespace nebula
diff --git a/scripts/plot_times.py b/scripts/plot_times.py
index 521dfd347..3cbf93f61 100644
--- a/scripts/plot_times.py
+++ b/scripts/plot_times.py
@@ -24,7 +24,6 @@ def parse_logs(run_name):
     
     for col in [c for c in df.columns if c.startswith("d_")]:
         df[col] /= 1e6  # ns to ms
-    df['d_total'] = sum([df[c] for c in df.columns if c.startswith("d_")]) # type: ignore
     return df
 
 def plot_timing_comparison(run_names):
@@ -41,11 +40,13 @@ def plot_timing_comparison(run_names):
     boxes = axs[1:]
 
     for i, (label, df) in enumerate(scenario_dfs.items()):
-        durations = df['d_total']
+        # durations = df['d_total']
 
-        ax_d.plot(durations.index, durations, label=label, linestyle='', marker='.')
+        # ax_d.plot(durations.index, durations, label=label, linestyle='', marker='.')
         for col in filter(lambda col: col.startswith("n_"), df.columns):
             ax_n.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.', color='black')
+        for col in filter(lambda col: col.startswith("d_"), df.columns):
+            ax_d.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.')
         
         d_columns = [col for col in df.columns if col.startswith("d_")]
         n_cols = len(d_columns)

From d83932939b44c5d171744e423d27c68e2d0da0b4 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 26 Mar 2024 22:02:51 +0900
Subject: [PATCH 006/122] temporary progress

---
 nebula_messages/nebula_msgs/CMakeLists.txt    |   2 +-
 .../nebula_msgs/msg/NebulaPacket.msg          |   2 +-
 nebula_messages/nebula_msgs/package.xml       |   2 +-
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |   6 +-
 nebula_ros/launch/hesai_launch_all_hw.xml     |  59 ++++----
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 134 +++++-------------
 6 files changed, 78 insertions(+), 127 deletions(-)

diff --git a/nebula_messages/nebula_msgs/CMakeLists.txt b/nebula_messages/nebula_msgs/CMakeLists.txt
index 2ffa068a5..e2b798d9d 100644
--- a/nebula_messages/nebula_msgs/CMakeLists.txt
+++ b/nebula_messages/nebula_msgs/CMakeLists.txt
@@ -21,4 +21,4 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         std_msgs
         )
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
index f6ba285d8..be5898eb1 100644
--- a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
+++ b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
@@ -1,2 +1,2 @@
 builtin_interfaces/Time stamp
-uint8[] data
+uint8[] data
\ No newline at end of file
diff --git a/nebula_messages/nebula_msgs/package.xml b/nebula_messages/nebula_msgs/package.xml
index 146e14d07..6b626c025 100644
--- a/nebula_messages/nebula_msgs/package.xml
+++ b/nebula_messages/nebula_msgs/package.xml
@@ -22,4 +22,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 004c717cd..8361aedfc 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -124,10 +124,14 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @return Resulting status
   Status InitializeHwInterface(
     const drivers::SensorConfigurationBase & sensor_configuration) override;
-  /// @brief Callback for receiving PandarScan
+  /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
 
+  /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
+  /// @param packet_msg The received packet message
+  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index a74eb9813..b7c1459ec 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,32 +33,35 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node pkg="nebula_ros" exec="hesai_ros_wrapper_node"
-           name="nebula_hesai" output="screen" ros_args="--log-level $(var debug_level)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="correction_file" value="$(var correction_file)"/>
-        <param name="launch_hw" value="$(var launch_hw)"/>
-
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-        <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="retry_hw" value="$(var retry_hw)"/>
-        <param name="ptp_profile" value="$(var ptp_profile)"/>
-        <param name="ptp_domain" value="$(var ptp_domain)"/>
-        <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-        <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-
-        <param name="diag_span" value="$(var diag_span)"/>
-    </node>
+    <node_container pkg="rclcpp_components" exec="component_container_mt" name="nebula_container" 
+        output="screen" ros_args="--log-level $(var debug_level)" namespace="">
+        <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"
+               name="nebula_hesai">
+            <param name="sensor_model" value="$(var sensor_model)"/>
+            <param name="return_mode" value="$(var return_mode)"/>
+            <param name="frame_id" value="$(var frame_id)"/>
+            <param name="scan_phase" value="$(var scan_phase)"/>
+            <param name="sensor_ip" value="$(var sensor_ip)"/>
+            <param name="calibration_file" value="$(var calibration_file)"/>
+            <param name="correction_file" value="$(var correction_file)"/>
+            <param name="launch_hw" value="$(var launch_hw)"/>
+    
+            <param name="host_ip" value="$(var host_ip)"/>
+            <param name="data_port" value="$(var data_port)"/>
+            <param name="gnss_port" value="$(var gnss_port)"/>
+            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+            <param name="rotation_speed" value="$(var rotation_speed)"/>
+            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+            <param name="setup_sensor" value="$(var setup_sensor)"/>
+            <param name="retry_hw" value="$(var retry_hw)"/>
+            <param name="ptp_profile" value="$(var ptp_profile)"/>
+            <param name="ptp_domain" value="$(var ptp_domain)"/>
+            <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+            <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
+    
+            <param name="diag_span" value="$(var diag_span)"/>
+        </composable_node>
+    </node_container>
 </launch>
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index ce81d6b3e..8957a30d2 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -86,94 +86,31 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
       std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
       std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
 
-    RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-    StreamStart();
-    hw_interface_.RegisterScanCallback(
-      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                         qos_profile);
-
-  packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
-    "hesai_packets", rclcpp::SensorDataQoS());
-
-  packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-    "hesai_packets", rclcpp::SensorDataQoS(), [](nebula_msgs::msg::NebulaPacket::UniquePtr){});
-
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
-}
-
-//hwmon
-{
-cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
+                          qos_profile);
+
+    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
+      "hesai_packets", rclcpp::SensorDataQoS());
+
+    packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+      "hesai_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+
+    nebula_points_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
+      "pandar_points", rclcpp::SensorDataQoS());
+    aw_points_base_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
+    aw_points_ex_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
+      "aw_points_ex", rclcpp::SensorDataQoS());
   }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
 
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
 
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  std::vector<std::thread> thread_pool{};
-  thread_pool.emplace_back([this] {
-    auto result = hw_interface_.GetInventory();
-    current_inventory.reset(new HesaiInventory(result));
-    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
-    RCLCPP_INFO_STREAM(this->get_logger(), result);
-    info_model = result.get_str_model();
-    info_serial = std::string(result.sn.begin(), result.sn.end());
-    hw_interface_.SetTargetModel(result.model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-    InitializeHesaiDiagnostics();
-  });
-  for (std::thread & th : thread_pool) {
-    th.join();
-  }
+  InitializeHwMonitor(*sensor_cfg_ptr_);
 
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
@@ -181,23 +118,30 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
-  auto t_received = std::chrono::high_resolution_clock::now().time_since_epoch().count();
-  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>(packet.size());
-  msg_ptr->stamp.sec = t_received / 1'000'000'000;
-  msg_ptr->stamp.nanosec = t_received % 1'000'000'000;
-  // TODO(mojomex) this copy could be avoided if transport_drivers would give us a non-const vector
-  std::copy(packet.begin(), packet.end(), msg_ptr->data.begin());
-  packet_pub_->publish(std::move(msg_ptr));
-
-  //todo
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
+  const auto now = std::chrono::system_clock::now();
+  const auto timestamp_ns =
+    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
+
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
+  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
+  std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
+
+  packet_pub_->publish(std::move(msg_ptr));
+}
+
+void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+{
+  std::lock_guard lock(mtx_decode_);
+
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ParseCloudPacket(packet);
+    driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
   auto t_end = std::chrono::high_resolution_clock::now();

From fdbeb45e2cb04ddb3a032c9c9d39c34143a3fb14 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 19:35:25 +0900
Subject: [PATCH 007/122] fix(hesai_ros_wrapper): remove changes wrongly merged
 during rebase

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 8957a30d2..9aef30110 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -91,6 +91,8 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                           qos_profile);
 
+    //TODO(mojomex): create high-frequency QoS with large buffer to prevent packet loss
+
     packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
       "hesai_packets", rclcpp::SensorDataQoS());
 
@@ -137,8 +139,6 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  std::lock_guard lock(mtx_decode_);
-
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
@@ -742,7 +742,7 @@ HesaiRosWrapper::~HesaiRosWrapper()
 Status HesaiRosWrapper::StreamStart()
 {
   if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.CloudInterfaceStart();
+    interface_status_ = hw_interface_.SensorInterfaceStart();
   }
   return interface_status_;
 }

From cc26aeb9e71ebeecbe44b2647638c3cef9baf6cb Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:16:36 +0900
Subject: [PATCH 008/122] fix(hesai_ros_wrapper): increase packet buffering to
 stop internal packet loss

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 43 +++++++++++-----------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 9aef30110..15f7eca09 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -88,23 +88,23 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
     RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
     rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-    auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                          qos_profile);
+    auto pointcloud_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    //TODO(mojomex): create high-frequency QoS with large buffer to prevent packet loss
-
-    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", rclcpp::SensorDataQoS());
+    auto packet_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1000), qos_profile);
 
+    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
     packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+      "hesai_packets", packet_qos,
+      std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
 
-    nebula_points_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
-      "pandar_points", rclcpp::SensorDataQoS());
+    nebula_points_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
     aw_points_base_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-    aw_points_ex_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
-      "aw_points_ex", rclcpp::SensorDataQoS());
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+    aw_points_ex_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
   }
 
   RCLCPP_DEBUG(this->get_logger(), "Starting stream");
@@ -664,14 +664,12 @@ Status HesaiRosWrapper::GetCalibrationData(
           }
           rt = correction_configuration.LoadFromBinary(received_bytes);
           if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(), "LoadFromBinary success"
-                              << "\n");
+            RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
             run_local = false;
           } else {
             RCLCPP_ERROR_STREAM(
-              get_logger(), "LoadFromBinary failed"
-                              << ". Falling back to offline calibration file.");
+              get_logger(),
+              "LoadFromBinary failed" << ". Falling back to offline calibration file.");
             run_local = true;
           }
         } else {
@@ -923,8 +921,8 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
   current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
-  auto fetch_diag_from_sensor = [this](){ 
-    OnHesaiStatusTimer(); 
+  auto fetch_diag_from_sensor = [this]() {
+    OnHesaiStatusTimer();
     if (hw_interface_.UseHttpGetLidarMonitor()) {
       OnHesaiLidarMonitorTimerHttp();
     } else {
@@ -932,9 +930,10 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
     }
   };
 
-  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-    this->get_node_base_interface()->get_context());
+  fetch_diagnostics_timer_ =
+    std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
+      this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
+      this->get_node_base_interface()->get_context());
   this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {

From a1b9f5bce148fef55153211dc077846e1ede2628 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:17:59 +0900
Subject: [PATCH 009/122] feat(nebula_common): add instrumentation tools

---
 .../nebula_common/util/instrumentation.hpp    | 109 ++++++++++++++++++
 1 file changed, 109 insertions(+)
 create mode 100644 nebula_common/include/nebula_common/util/instrumentation.hpp

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
new file mode 100644
index 000000000..ab9357286
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/instrumentation.hpp
@@ -0,0 +1,109 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <iostream>
+
+namespace nebula
+{
+namespace util
+{
+
+using namespace std::chrono_literals;
+
+class Instrumentation
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  Instrumentation(std::string tag) : tag(tag), last_print(clock::now()) {}
+
+  void tick()
+  {
+    auto now = clock::now();
+
+    if (last_tick != time_point::min()) {
+      auto rtt = now - last_tick;
+      rtts_.update(rtt);
+    }
+
+    last_tick = now;
+  }
+
+  void tock()
+  {
+    auto now = clock::now();
+    auto delay = now - last_tick;
+    delays_.update(delay);
+
+    if (now - last_print >= PRINT_INTERVAL) {
+      auto del = delays_.reset();
+      auto rtt = rtts_.reset();
+
+      last_print = now;
+
+      std::cout << "{\"tag\": \"" << tag << "\", \"del_min\": " << del.min.count() * 1e-9
+                << ", \"del_avg\": " << del.avg.count() * 1e-9
+                << ", \"del_max\": " << del.max.count() * 1e-9
+                << ", \"rtt_min\": " << rtt.min.count() * 1e-9
+                << ", \"rtt_avg\": " << rtt.avg.count() * 1e-9
+                << ", \"rtt_max\": " << rtt.max.count() * 1e-9 << ", \"window\": " << rtt.count
+                << '}' << std::endl;
+    }
+  }
+
+private:
+  class Counter
+  {
+  public:
+    struct Stats
+    {
+      duration min;
+      duration avg;
+      duration max;
+      uint64_t count;
+    };
+
+    Stats reset()
+    {
+      auto avg_measurement = sum_measurements / num_measurements;
+
+      Stats result{min_measurement, avg_measurement, max_measurement, num_measurements};
+
+      sum_measurements = duration::zero();
+      num_measurements = 0;
+      min_measurement = duration::zero();
+      max_measurement = duration::max();
+    }
+
+    void update(duration measurement)
+    {
+      sum_measurements += measurement;
+      num_measurements++;
+
+      min_measurement = std::min(min_measurement, measurement);
+      max_measurement = std::max(max_measurement, measurement);
+    }
+
+  private:
+    duration sum_measurements{duration::zero()};
+    uint64_t num_measurements{0};
+    duration min_measurement{duration::max()};
+    duration max_measurement{duration::zero()};
+  };
+
+  std::string tag;
+
+  time_point last_tick{time_point::min()};
+  time_point last_print{time_point::min()};
+
+  Counter delays_;
+  Counter rtts_;
+
+  const duration PRINT_INTERVAL = 1s;
+};
+
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file

From 1131201545bc2f5475f6c55cd90c494d9c5a8acb Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:18:20 +0900
Subject: [PATCH 010/122] feat(hesai_ros_wrapper): instrument code on critical
 path

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  1 +
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 37 +++++++++++++------
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 8361aedfc..68fc5948c 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,6 +4,7 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
+#include "nebula_common/util/instrumentation.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 15f7eca09..1835e1de6 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -120,11 +120,14 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
+  static nebula::util::Instrumentation convert{"ReceiveCloudPacketCallback.convert"};
+  static nebula::util::Instrumentation publish{"ReceiveCloudPacketCallback.publish"};
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
+  convert.tick();
   const auto now = std::chrono::system_clock::now();
   const auto timestamp_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
@@ -133,22 +136,24 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
   std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
+  convert.tock();
 
+  publish.tick();
   packet_pub_->publish(std::move(msg_ptr));
+  publish.tock();
 }
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  auto t_start = std::chrono::high_resolution_clock::now();
+  static nebula::util::Instrumentation parse{"ProcessCloudPacket.parse"};
+  static nebula::util::Instrumentation convert{"ProcessCloudPacket.convert"};
+  static nebula::util::Instrumentation publish{"ProcessCloudPacket.publish"};
+
+  parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-
-  auto t_end = std::chrono::high_resolution_clock::now();
-  auto runtime = t_end - t_start;
-  t_start = t_end;
-  RCLCPP_DEBUG(
-    get_logger(), "PROFILING {'d_decode_packet': %lu}", runtime.count());
+  parse.tock();
 
   if (pointcloud == nullptr) {
     // todo
@@ -158,38 +163,48 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+    publish.tock();
   }
   if (
     aw_points_base_pub_->get_subscription_count() > 0 ||
     aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
+
     const auto autoware_cloud_xyzi =
       nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+    publish.tock();
   }
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
+
     const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
       pointcloud, std::get<1>(pointcloud_ts));
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+    publish.tock();
   }
-
-  runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(
-    get_logger(), "PROFILING {'d_convert_pc': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void HesaiRosWrapper::PublishCloud(

From 174bd1cbcfc75c81924f09ea5283db4865567569 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:18:57 +0900
Subject: [PATCH 011/122] disable instrumentation

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  3 +-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 55 ++++++++++---------
 2 files changed, 32 insertions(+), 26 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 68fc5948c..a52b3903f 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,7 +4,8 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
-#include "nebula_common/util/instrumentation.hpp"
+// #include "nebula_common/util/instrumentation.hpp"
+// #include "nebula_common/util/topic_delay.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1835e1de6..533c3cf49 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -120,14 +120,15 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
-  static nebula::util::Instrumentation convert{"ReceiveCloudPacketCallback.convert"};
-  static nebula::util::Instrumentation publish{"ReceiveCloudPacketCallback.publish"};
+  // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
+  // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
+  // static auto delay = nebula::util::TopicDelay("ReceiveCloudPacketCallback");
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
-  convert.tick();
+  // convert.tick();
   const auto now = std::chrono::system_clock::now();
   const auto timestamp_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
@@ -135,25 +136,29 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
   msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
-  std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
-  convert.tock();
+  msg_ptr->data.swap(packet);
+  // convert.tock();
 
-  publish.tick();
-  packet_pub_->publish(std::move(msg_ptr));
-  publish.tock();
+  // delay.tick(msg_ptr->stamp);
+
+  // publish.tick();
+  // publish.tock();
 }
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  static nebula::util::Instrumentation parse{"ProcessCloudPacket.parse"};
-  static nebula::util::Instrumentation convert{"ProcessCloudPacket.convert"};
-  static nebula::util::Instrumentation publish{"ProcessCloudPacket.publish"};
+  // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
+  // static auto convert = nebula::util::Instrumentation("ProcessCloudPacket.convert");
+  // static auto publish = nebula::util::Instrumentation("ProcessCloudPacket.publish");
+  // static auto delay = nebula::util::TopicDelay("ProcessCloudPacket");
+
+  // delay.tick(packet_msg->stamp);
 
-  parse.tick();
+  // parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-  parse.tock();
+  // parse.tock();
 
   if (pointcloud == nullptr) {
     // todo
@@ -163,20 +168,20 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-    publish.tock();
+    // publish.tock();
   }
   if (
     aw_points_base_pub_->get_subscription_count() > 0 ||
     aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
 
     const auto autoware_cloud_xyzi =
       nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
@@ -184,15 +189,15 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-    publish.tock();
+    // publish.tock();
   }
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
 
     const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
       pointcloud, std::get<1>(pointcloud_ts));
@@ -200,10 +205,10 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-    publish.tock();
+    // publish.tock();
   }
 }
 

From 195eb10eff585860d54bfba345b21a5c6110586e Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:20:44 +0900
Subject: [PATCH 012/122] feat(hesai): move received buffer into ros message
 instead of copy

---
 .../hesai_hw_interface.hpp                           |  6 +++---
 .../hesai_hw_interface.cpp                           | 12 ++++++------
 .../include/nebula_ros/hesai/hesai_ros_wrapper.hpp   |  2 +-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp           |  3 ++-
 4 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index f65daf077..362ca3be0 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -102,7 +102,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
   std::function<bool(size_t)>
     is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
-  std::function<void(const std::vector<uint8_t> & buffer)>
+  std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   int prev_phase_{};
@@ -168,7 +168,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
 
   /// @brief Callback function to receive the Cloud Packet data from the UDP Driver
   /// @param buffer Buffer containing the data received from the UDP socket
-  void ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer) final;
+  void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
   /// @brief Starting the interface that handles UDP streams
   /// @return Resulting status
   Status SensorInterfaceStart() final;
@@ -192,7 +192,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   /// @param scan_callback Callback function
   /// @return Resulting status
   Status RegisterScanCallback(
-    std::function<void(const std::vector<uint8_t> &)> scan_callback);
+    std::function<void(std::vector<uint8_t> &)> scan_callback);
   /// @brief Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION
   /// @return Resulting status
   std::string GetLidarCalibrationString();
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index bf3060afc..a0fcbf184 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -218,18 +218,18 @@ Status HesaiHwInterface::SensorInterfaceStart()
 }
 
 Status HesaiHwInterface::RegisterScanCallback(
-  std::function<void(const std::vector<uint8_t> &)> scan_callback)
+  std::function<void(std::vector<uint8_t> &)> scan_callback)
 {
   cloud_packet_callback_ = std::move(scan_callback);
   return Status::OK;
 }
 
-void HesaiHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
+void HesaiHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
-  if (!is_valid_packet_(buffer.size())) {
-    PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
-    return;
-  }
+  // if (!is_valid_packet_(buffer.size())) {
+  //   PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
+  //   return;
+  // } TODO
   cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index a52b3903f..896fec094 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -128,7 +128,7 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
-  void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
+  void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
 
   /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
   /// @param packet_msg The received packet message
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 533c3cf49..c113f1f04 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -118,7 +118,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
 
-void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 {
   // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
   // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
@@ -142,6 +142,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
+  packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 

From 295d501e5f552bf2d47ed27b914e3fff9aee2248 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:21:46 +0900
Subject: [PATCH 013/122] feat(hesai_ros_wrapper: add thread-safe queue between
 udp receiver and decoder, decode in separate thread

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  5 +++
 .../include/nebula_ros/hesai/mt_queue.hpp     | 41 +++++++++++++++++++
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 27 ++++++++----
 3 files changed, 65 insertions(+), 8 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/hesai/mt_queue.hpp

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 896fec094..67c2b537d 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -27,6 +27,8 @@
 #include <mutex>
 #include <thread>
 
+#include "nebula_ros/hesai/mt_queue.hpp"
+
 namespace nebula
 {
 namespace ros
@@ -203,6 +205,9 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
   std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
 
+  mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  std::thread decoder_thread_;
+
   Status interface_status_;
 
   //todo: temporary class member during single node refactoring
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
new file mode 100644
index 000000000..49c08b957
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <condition_variable>
+#include <deque>
+#include <mutex>
+
+template <typename T>
+class mt_queue
+{
+private:
+  std::mutex d_mutex;
+  std::condition_variable d_condition;
+  std::deque<T> d_queue;
+
+  size_t capacity_;
+
+public:
+  mt_queue(size_t capacity) : capacity_(capacity) {}
+
+  bool push(T && value)
+  {
+    {
+      std::unique_lock<std::mutex> lock(this->d_mutex);
+      if (d_queue.size() == capacity_) {
+        return false;
+      }
+
+      d_queue.push_front(std::move(value));
+    }
+    this->d_condition.notify_one();
+    return true;
+  }
+  T pop()
+  {
+    std::unique_lock<std::mutex> lock(this->d_mutex);
+    this->d_condition.wait(lock, [=] { return !this->d_queue.empty(); });
+    T rc(std::move(this->d_queue.back()));
+    this->d_queue.pop_back();
+    return rc;
+  }
+};
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index c113f1f04..b86c05199 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,7 +7,8 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
-  diagnostics_updater_(this)
+  diagnostics_updater_(this),
+  packet_queue_(300)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
@@ -91,13 +92,20 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto pointcloud_qos =
       rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    auto packet_qos =
-      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1000), qos_profile);
+    // auto packet_qos =
+    //   rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 300), qos_profile);
 
-    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
-    packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", packet_qos,
-      std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+    // packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
+    // packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+    //   "hesai_packets", packet_qos,
+    //   std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+
+    decoder_thread_ = std::thread([this](){
+      while(true) {
+        auto pkt = packet_queue_.pop();
+        this->ProcessCloudPacket(std::move(pkt));
+      }
+    });
 
     nebula_points_pub_ =
       this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
@@ -142,7 +150,10 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
-  packet_pub_->publish(std::move(msg_ptr));
+  if (!packet_queue_.push(std::move(msg_ptr))) {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
+  }
+  // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 

From bdec15dcc3d435b5b6bb847c8e15fa38cb1287e9 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:22:12 +0900
Subject: [PATCH 014/122] feat(nebula_common): more instrumentation tools

---
 .../nebula_common/util/instrumentation.hpp    | 87 +++++++------------
 .../util/performance_counter.hpp              | 43 +++++++++
 .../nebula_common/util/topic_delay.hpp        | 68 +++++++++++++++
 scripts/plot_instrumentation.py               | 77 ++++++++++++++++
 4 files changed, 220 insertions(+), 55 deletions(-)
 create mode 100644 nebula_common/include/nebula_common/util/performance_counter.hpp
 create mode 100644 nebula_common/include/nebula_common/util/topic_delay.hpp
 create mode 100755 scripts/plot_instrumentation.py

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
index ab9357286..ccce705d8 100644
--- a/nebula_common/include/nebula_common/util/instrumentation.hpp
+++ b/nebula_common/include/nebula_common/util/instrumentation.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include "nebula_common/util/performance_counter.hpp"
+
 #include <chrono>
 #include <cstdint>
 #include <iostream>
@@ -18,86 +20,61 @@ class Instrumentation
   using duration = std::chrono::nanoseconds;
 
 public:
-  Instrumentation(std::string tag) : tag(tag), last_print(clock::now()) {}
+  Instrumentation(std::string tag)
+  : tag_(std::move(tag)), last_print_(clock::now()), delays_(), rtts_()
+  {
+  }
 
   void tick()
   {
     auto now = clock::now();
 
-    if (last_tick != time_point::min()) {
-      auto rtt = now - last_tick;
+    if (last_tick_ != time_point::min()) {
+      auto rtt = now - last_tick_;
       rtts_.update(rtt);
     }
 
-    last_tick = now;
+    last_tick_ = now;
   }
 
   void tock()
   {
     auto now = clock::now();
-    auto delay = now - last_tick;
+    auto delay = now - last_tick_;
     delays_.update(delay);
 
-    if (now - last_print >= PRINT_INTERVAL) {
+    if (now - last_print_ >= PRINT_INTERVAL) {
       auto del = delays_.reset();
       auto rtt = rtts_.reset();
 
-      last_print = now;
+      last_print_ = now;
 
-      std::cout << "{\"tag\": \"" << tag << "\", \"del_min\": " << del.min.count() * 1e-9
-                << ", \"del_avg\": " << del.avg.count() * 1e-9
-                << ", \"del_max\": " << del.max.count() * 1e-9
-                << ", \"rtt_min\": " << rtt.min.count() * 1e-9
-                << ", \"rtt_avg\": " << rtt.avg.count() * 1e-9
-                << ", \"rtt_max\": " << rtt.max.count() * 1e-9 << ", \"window\": " << rtt.count
-                << '}' << std::endl;
-    }
-  }
+      std::stringstream ss;
 
-private:
-  class Counter
-  {
-  public:
-    struct Stats
-    {
-      duration min;
-      duration avg;
-      duration max;
-      uint64_t count;
-    };
-
-    Stats reset()
-    {
-      auto avg_measurement = sum_measurements / num_measurements;
-
-      Stats result{min_measurement, avg_measurement, max_measurement, num_measurements};
-
-      sum_measurements = duration::zero();
-      num_measurements = 0;
-      min_measurement = duration::zero();
-      max_measurement = duration::max();
-    }
+      ss << "{\"type\": \"instrumentation\", \"tag\": \"" << tag_
+         << "\", \"del\": [";
+      
+      for (duration & dt : *del) {
+        ss << dt.count() << ',';
+      }
 
-    void update(duration measurement)
-    {
-      sum_measurements += measurement;
-      num_measurements++;
+      ss <<"null], \"rtt\": [";
 
-      min_measurement = std::min(min_measurement, measurement);
-      max_measurement = std::max(max_measurement, measurement);
-    }
+      for (duration & dt : *rtt) {
+        ss << dt.count() << ',';
+      }
+         
+      ss <<  "null]}" << std::endl;
 
-  private:
-    duration sum_measurements{duration::zero()};
-    uint64_t num_measurements{0};
-    duration min_measurement{duration::max()};
-    duration max_measurement{duration::zero()};
-  };
+      std::cout << ss.str();
+    }
+  }
 
-  std::string tag;
+private:
+  std::string tag_;
 
-  time_point last_tick{time_point::min()};
-  time_point last_print{time_point::min()};
+  time_point last_tick_{time_point::min()};
+  time_point last_print_{time_point::min()};
 
   Counter delays_;
   Counter rtts_;
diff --git a/nebula_common/include/nebula_common/util/performance_counter.hpp b/nebula_common/include/nebula_common/util/performance_counter.hpp
new file mode 100644
index 000000000..cd6b618f1
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/performance_counter.hpp
@@ -0,0 +1,43 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <vector>
+
+namespace nebula
+{
+namespace util
+{
+
+class Counter
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  Counter()
+  : buf_record_(), buf_output_()
+  {
+    buf_record_.resize(100000);
+    buf_output_.resize(100000);
+  }
+
+  std::vector<duration> * reset()
+  {
+    buf_record_.swap(buf_output_);
+    buf_record_.clear();
+    return &buf_output_;
+  }
+
+  void update(duration measurement)
+  {
+    buf_record_.push_back(measurement);
+  }
+
+private:
+  std::vector<duration> buf_record_;
+  std::vector<duration> buf_output_;
+};
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/topic_delay.hpp b/nebula_common/include/nebula_common/util/topic_delay.hpp
new file mode 100644
index 000000000..a92ce29a2
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/topic_delay.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <builtin_interfaces/msg/time.hpp>
+
+#include "nebula_common/util/performance_counter.hpp"
+
+
+#include <chrono>
+#include <cstdint>
+#include <iostream>
+
+namespace nebula
+{
+namespace util
+{
+
+using namespace std::chrono_literals;
+
+class TopicDelay
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  TopicDelay(std::string tag) : tag_(std::move(tag)), last_print_(clock::now()), delays_() {}
+
+  void tick(builtin_interfaces::msg::Time & stamp)
+  {
+    auto now = clock::now();
+
+    time_point t_msg = time_point(duration(static_cast<uint64_t>(stamp.sec) * 1'000'000'000ULL + stamp.nanosec));
+    auto delay = now - t_msg;
+
+    delays_.update(delay);
+
+    if (now - last_print_ >= PRINT_INTERVAL) {
+      auto del = delays_.reset();
+
+      last_print_ = now;
+
+      std::stringstream ss;
+
+      ss << "{\"type\": \"topic_delay\", \"tag\": \"" << tag_
+         << "\", \"del\": [";
+      
+      for (duration & dt : *del) {
+        ss << dt.count() << ',';
+      }
+
+      ss <<  "null]}" << std::endl;
+
+      std::cout << ss.str();
+    }
+  }
+
+private:
+  std::string tag_;
+
+  time_point last_print_{time_point::min()};
+
+  Counter delays_;
+
+  const duration PRINT_INTERVAL = 1s;
+};
+
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file
diff --git a/scripts/plot_instrumentation.py b/scripts/plot_instrumentation.py
new file mode 100755
index 000000000..fe9c12fda
--- /dev/null
+++ b/scripts/plot_instrumentation.py
@@ -0,0 +1,77 @@
+#!/usr/bin/python3
+
+import argparse
+from matplotlib import pyplot as plt
+import numpy as np
+import pandas as pd
+import re
+import json
+import os
+from collections import defaultdict
+
+def condition_data(log_file: str):
+  with open(log_file, 'r') as f:
+    lines = f.readlines()
+    lines = [re.search(r'(\{"type":.*?"tag":.*?\})', l) for l in lines]
+    lines = [re.sub(r'([0-9])"', r'\1', l[1]) for l in lines if l]
+    lines = [json.loads(l) for l in lines if l]
+
+    cols = defaultdict(list)
+
+    for record in lines:
+      for key in record.keys():
+        if key in ["tag", "type"]:
+          continue
+
+        colname = f"{record['type']}.{key}.{record['tag']}"
+        cols[colname] += [num for num in record[key] if num is not None]
+
+  def quantile_filter(series, quantile):
+    q = series.quantile(quantile)
+    return series[series <= q]
+
+  cols = {k: pd.Series(v, name=k) / 1e3 for k, v in cols.items()}
+  cols = {k: quantile_filter(v, .999) for k, v in cols.items()}
+
+  for v in cols.values():
+    v: pd.Series
+    v.attrs['file'] = os.path.basename(os.path.splitext(log_file)[0])
+
+  return cols
+
+def plot(conditioned_logs):
+
+  conditioned_logs = {k: [dic[k] for dic in conditioned_logs] for k in conditioned_logs[0]}
+
+  fig, axs = plt.subplots(1, len(conditioned_logs), figsize=(15, 8), dpi=120)
+
+  handles, labels = [], []
+
+  for i, k in enumerate(sorted(conditioned_logs.keys())):
+    k: str
+    v = conditioned_logs[k]
+    ax: plt.Axes = axs[i]
+    art = ax.boxplot(v)
+    handles.append(art)
+    labels.append(k)
+    ax.set_ylabel("dt [µs]")
+    ax.set_title(k.replace(".", "\n"))
+    ax.set_xticks([1 + i for i in range(len(v))], [ser.attrs['file'] for ser in v])
+    ax.tick_params(axis='x', labelrotation=90)
+
+
+
+  fig.tight_layout()
+  plt.savefig("instrumentation.png")
+  plt.show()
+
+def main(args):
+   conditioned_logs = [condition_data(f) for f in args.log_files]
+   plot(conditioned_logs)
+  
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("log_files", nargs="+")
+  args = parser.parse_args()
+
+  main(args)
\ No newline at end of file

From 017cfadabe38d0f69576f584503fc9fb14a8e15f Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:23:02 +0900
Subject: [PATCH 015/122] fix: update link to transport_drivers fork

---
 build_depends.repos | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_depends.repos b/build_depends.repos
index e28379f1a..e9278685a 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -2,5 +2,5 @@ repositories:
   # TCP version of transport drivers
   transport_drivers:
     type: git
-    url: https://github.com/MapIV/transport_drivers
-    version: boost
+    url: https://github.com/mojomex/transport_drivers
+    version: mutable-buffer-in-udp-callback

From 6713b0d7d5b8386f002d169e29b7b9c5463b52ec Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 15:14:44 +0900
Subject: [PATCH 016/122] fix(hesai_hw_monitor_ros_wrapper): fixed wrong range
 given for S/N copy

---
 nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
index a7d6e5b11..e64bf443b 100644
--- a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
@@ -74,7 +74,7 @@ HesaiHwMonitorRosWrapper::HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & o
     RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
     RCLCPP_INFO_STREAM(this->get_logger(), result);
     info_model = result.get_str_model();
-    info_serial = std::string(std::begin(result.sn), std::begin(result.sn));
+    info_serial = std::string(std::begin(result.sn), std::end(result.sn));
     hw_interface_.SetTargetModel(result.model);
     RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
     RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);

From cd6ad8e4c78b36f270581f7483e815fb6ee5ed2c Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 15:36:49 +0900
Subject: [PATCH 017/122] update GitHub PR view


From decf1ac207142e818d6c6b4cb3193fd3c271dae0 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:26:42 +0900
Subject: [PATCH 018/122] fix(hesai): print uint8, uint16 as numbers

---
 .../hesai_cmd_response.hpp                    | 109 ++++++++++--------
 1 file changed, 61 insertions(+), 48 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index 4af74426c..a6d78c45e 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -124,11 +124,11 @@ struct HesaiPtpDiagGrandmaster
   {
     os << "clockQuality: " << arg.clockQuality;
     os << ", ";
-    os << "utc_offset: " << static_cast<int>(arg.utc_offset.value());
+    os << "utc_offset: " << arg.utc_offset;
     os << ", ";
-    os << "time_flags: " << static_cast<int>(arg.time_flags);
+    os << "time_flags: " << +arg.time_flags;
     os << ", ";
-    os << "time_source: " << static_cast<int>(arg.time_source);
+    os << "time_source: " << +arg.time_source;
 
     return os;
   }
@@ -137,13 +137,13 @@ struct HesaiPtpDiagGrandmaster
 /// @brief struct of PTC_COMMAND_GET_INVENTORY_INFO
 struct HesaiInventory
 {
-  uint8_t sn[18];
-  uint8_t date_of_manufacture[16];
+  char sn[18];
+  char date_of_manufacture[16];
   uint8_t mac[6];
-  uint8_t sw_ver[16];
-  uint8_t hw_ver[16];
-  uint8_t control_fw_ver[16];
-  uint8_t sensor_fw_ver[16];
+  char sw_ver[16];
+  char hw_ver[16];
+  char control_fw_ver[16];
+  char sensor_fw_ver[16];
   big_uint16_buf_t angle_offset;
   uint8_t model;
   uint8_t motor_type;
@@ -152,10 +152,13 @@ struct HesaiInventory
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiInventory const & arg)
   {
-    os << "sn: " << std::string(std::begin(arg.sn), std::end(arg.sn));
+    std::ios initial_format(nullptr);
+    initial_format.copyfmt(os);
+
+    os << "sn: " << std::string(arg.sn, strnlen(arg.sn, sizeof(arg.sn)));
     os << ", ";
     os << "date_of_manufacture: "
-       << std::string(std::begin(arg.date_of_manufacture), std::end(arg.date_of_manufacture));
+       << std::string(arg.date_of_manufacture, strnlen(arg.date_of_manufacture, sizeof(arg.date_of_manufacture)));
     os << ", ";
     os << "mac: ";
 
@@ -163,35 +166,37 @@ struct HesaiInventory
       if (i != 0) {
         os << ':';
       }
-      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.mac[i]));
+      os << std::hex << std::setfill('0') << std::setw(2) << (+arg.mac[i]);
     }
+    os.copyfmt(initial_format);
 
     os << ", ";
-    os << "sw_ver: " << std::string(std::begin(arg.sw_ver), std::end(arg.sw_ver));
+    os << "sw_ver: " << std::string(arg.sw_ver, strnlen(arg.sw_ver, sizeof(arg.sw_ver)));
     os << ", ";
-    os << "hw_ver: " << std::string(std::begin(arg.hw_ver), std::end(arg.hw_ver));
+    os << "hw_ver: " << std::string(arg.hw_ver, strnlen(arg.hw_ver, sizeof(arg.hw_ver)));
     os << ", ";
     os << "control_fw_ver: "
-       << std::string(std::begin(arg.control_fw_ver), std::end(arg.control_fw_ver));
+       << std::string(arg.control_fw_ver, strnlen(arg.control_fw_ver, sizeof(arg.control_fw_ver)));
     os << ", ";
     os << "sensor_fw_ver: "
-       << std::string(std::begin(arg.sensor_fw_ver), std::end(arg.sensor_fw_ver));
+       << std::string(arg.sensor_fw_ver, strnlen(arg.sensor_fw_ver, sizeof(arg.sensor_fw_ver)));
     os << ", ";
     os << "angle_offset: " << arg.angle_offset;
     os << ", ";
-    os << "model: " << arg.model;
+    os << "model: " << +arg.model;
     os << ", ";
-    os << "motor_type: " << arg.motor_type;
+    os << "motor_type: " << +arg.motor_type;
     os << ", ";
-    os << "num_of_lines: " << arg.num_of_lines;
+    os << "num_of_lines: " << +arg.num_of_lines;
     os << ", ";
 
     for (size_t i = 0; i < sizeof(arg.reserved); i++) {
       if (i != 0) {
         os << ' ';
       }
-      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
+      os << std::hex << std::setfill('0') << std::setw(2) << (+arg.reserved[i]);
     }
+    os.copyfmt(initial_format);
 
     return os;
   }
@@ -258,29 +263,32 @@ struct HesaiConfig
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiConfig const & arg)
   {
+    std::ios initial_format(nullptr);
+    initial_format.copyfmt(os);
+
     os << "ipaddr: " 
-       << static_cast<int>(arg.ipaddr[0]) << "." 
-       << static_cast<int>(arg.ipaddr[1]) << "." 
-       << static_cast<int>(arg.ipaddr[2]) << "." 
-       << static_cast<int>(arg.ipaddr[3]);
+       << +arg.ipaddr[0] << "." 
+       << +arg.ipaddr[1] << "." 
+       << +arg.ipaddr[2] << "." 
+       << +arg.ipaddr[3];
     os << ", ";
     os << "mask: " 
-       << static_cast<int>(arg.mask[0]) << "." 
-       << static_cast<int>(arg.mask[1]) << "."
-       << static_cast<int>(arg.mask[2]) << "." 
-       << static_cast<int>(arg.mask[3]);
+       << +arg.mask[0] << "." 
+       << +arg.mask[1] << "."
+       << +arg.mask[2] << "." 
+       << +arg.mask[3];
     os << ", ";
     os << "gateway: " 
-       << static_cast<int>(arg.gateway[0]) << "." 
-       << static_cast<int>(arg.gateway[1]) << "." 
-       << static_cast<int>(arg.gateway[2]) << "." 
-       << static_cast<int>(arg.gateway[3]);
+       << +arg.gateway[0] << "." 
+       << +arg.gateway[1] << "." 
+       << +arg.gateway[2] << "." 
+       << +arg.gateway[3];
     os << ", ";
     os << "dest_ipaddr: " 
-       << static_cast<int>(arg.dest_ipaddr[0]) << "."
-       << static_cast<int>(arg.dest_ipaddr[1]) << "." 
-       << static_cast<int>(arg.dest_ipaddr[2]) << "."
-       << static_cast<int>(arg.dest_ipaddr[3]);
+       << +arg.dest_ipaddr[0] << "."
+       << +arg.dest_ipaddr[1] << "." 
+       << +arg.dest_ipaddr[2] << "."
+       << +arg.dest_ipaddr[3];
     os << ", ";
     os << "dest_LiDAR_udp_port: " << arg.dest_LiDAR_udp_port;
     os << ", ";
@@ -288,7 +296,7 @@ struct HesaiConfig
     os << ", ";
     os << "spin_rate: " << arg.spin_rate;
     os << ", ";
-    os << "sync: " << arg.sync;
+    os << "sync: " << +arg.sync;
     os << ", ";
     os << "sync_angle: " << arg.sync_angle;
     os << ", ";
@@ -296,27 +304,27 @@ struct HesaiConfig
     os << ", ";
     os << "stop_angle: " << arg.stop_angle;
     os << ", ";
-    os << "clock_source: " << arg.clock_source;
+    os << "clock_source: " << +arg.clock_source;
     os << ", ";
-    os << "udp_seq: " << arg.udp_seq;
+    os << "udp_seq: " << +arg.udp_seq;
     os << ", ";
-    os << "trigger_method: " << arg.trigger_method;
+    os << "trigger_method: " << +arg.trigger_method;
     os << ", ";
-    os << "return_mode: " << arg.return_mode;
+    os << "return_mode: " << +arg.return_mode;
     os << ", ";
-    os << "standby_mode: " << arg.standby_mode;
+    os << "standby_mode: " << +arg.standby_mode;
     os << ", ";
-    os << "motor_status: " << arg.motor_status;
+    os << "motor_status: " << +arg.motor_status;
     os << ", ";
-    os << "vlan_flag: " << arg.vlan_flag;
+    os << "vlan_flag: " << +arg.vlan_flag;
     os << ", ";
     os << "vlan_id: " << arg.vlan_id;
     os << ", ";
-    os << "clock_data_fmt: " << arg.clock_data_fmt;
+    os << "clock_data_fmt: " << +arg.clock_data_fmt;
     os << ", ";
-    os << "noise_filtering: " << arg.noise_filtering;
+    os << "noise_filtering: " << +arg.noise_filtering;
     os << ", ";
-    os << "reflectivity_mapping: " << arg.reflectivity_mapping;
+    os << "reflectivity_mapping: " << +arg.reflectivity_mapping;
     os << ", ";
     os << "reserved: ";
 
@@ -324,8 +332,9 @@ struct HesaiConfig
       if (i != 0) {
         os << ' ';
       }
-      os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
+      os << std::hex << std::setfill('0') << std::setw(2) << (+arg.reserved[i]);
     }
+    os.copyfmt(initial_format);
 
     return os;
   }
@@ -346,6 +355,9 @@ struct HesaiLidarStatus
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarStatus const & arg)
   {
+    std::ios initial_format(nullptr);
+    initial_format.copyfmt(os);
+
     os << "system_uptime: " << arg.system_uptime;
     os << ", ";
     os << "motor_speed: " << arg.motor_speed;
@@ -378,6 +390,7 @@ struct HesaiLidarStatus
       }
       os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
     }
+    os.copyfmt(initial_format);
 
     return os;
   }

From da8fd64a1144e0ef020d2245f10b4599c9e27871 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:43:51 +0900
Subject: [PATCH 019/122] refactor(mt_queue): make variables more readable

---
 .../include/nebula_ros/hesai/mt_queue.hpp     | 25 +++++++++----------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 49c08b957..730b54f7c 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -8,10 +8,9 @@ template <typename T>
 class mt_queue
 {
 private:
-  std::mutex d_mutex;
-  std::condition_variable d_condition;
-  std::deque<T> d_queue;
-
+  std::mutex mutex_;
+  std::condition_variable condition_variable_;
+  std::deque<T> queue_;
   size_t capacity_;
 
 public:
@@ -20,22 +19,22 @@ class mt_queue
   bool push(T && value)
   {
     {
-      std::unique_lock<std::mutex> lock(this->d_mutex);
-      if (d_queue.size() == capacity_) {
+      std::unique_lock<std::mutex> lock(this->mutex_);
+      if (queue_.size() == capacity_) {
         return false;
       }
 
-      d_queue.push_front(std::move(value));
+      queue_.push_front(std::move(value));
     }
-    this->d_condition.notify_one();
+    this->condition_variable_.notify_one();
     return true;
   }
   T pop()
   {
-    std::unique_lock<std::mutex> lock(this->d_mutex);
-    this->d_condition.wait(lock, [=] { return !this->d_queue.empty(); });
-    T rc(std::move(this->d_queue.back()));
-    this->d_queue.pop_back();
-    return rc;
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->condition_variable_.wait(lock, [=] { return !this->queue_.empty(); });
+    T return_value(std::move(this->queue_.back()));
+    this->queue_.pop_back();
+    return return_value;
   }
 };
\ No newline at end of file

From dc850fbd90defc83bacf18e96fd86bbee22e1dec Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:45:48 +0900
Subject: [PATCH 020/122] perf(hesai_ros_wrapper): update queue capacity to
 alleviate packet drops on ECU

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index b86c05199..f84371a36 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -8,7 +8,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
   diagnostics_updater_(this),
-  packet_queue_(300)
+  packet_queue_(3000)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 

From d5d98a25d5787c9525fa0bc7fe2b403b0f3da1f6 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:46:11 +0900
Subject: [PATCH 021/122] chore(hesai_ros_wrapper): remove unused pub/sub

---
 .../include/nebula_ros/hesai/hesai_ros_wrapper.hpp    |  3 ---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp            | 11 -----------
 2 files changed, 14 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 67c2b537d..4038565c4 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -194,9 +194,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
 
-  rclcpp::Publisher<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_pub_;
-  rclcpp::Subscription<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_sub_;
-
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index f84371a36..1540df3fa 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -92,14 +92,6 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto pointcloud_qos =
       rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    // auto packet_qos =
-    //   rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 300), qos_profile);
-
-    // packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
-    // packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-    //   "hesai_packets", packet_qos,
-    //   std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
-
     decoder_thread_ = std::thread([this](){
       while(true) {
         auto pkt = packet_queue_.pop();
@@ -254,9 +246,6 @@ Status HesaiRosWrapper::GetStatus()
 
 Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
 {
-  ///////////////////////////////////////////////
-  // Define and get ROS parameters
-  ///////////////////////////////////////////////
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;

From 1403984996b9c137e7ce7c80653d04448b70be88 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 18:07:03 +0900
Subject: [PATCH 022/122] refactor(hesai_ros_wrapper): clean up control flow,
 member variables

---
 .../common/nebula_ros_wrapper_base.hpp        |  68 ---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    | 110 ++---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 436 ++++++++----------
 3 files changed, 230 insertions(+), 384 deletions(-)
 delete mode 100644 nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp

diff --git a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
deleted file mode 100644
index 5aaeb634b..000000000
--- a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#pragma once
-
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
-#include <string>
-#include <vector>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Base class for ros wrapper of each sensor driver
-class NebulaRosWrapperBase
-{
-public:
-  NebulaRosWrapperBase() = default;
-
-  NebulaRosWrapperBase(NebulaRosWrapperBase && c) = delete;
-  NebulaRosWrapperBase & operator=(NebulaRosWrapperBase && c) = delete;
-  NebulaRosWrapperBase(const NebulaRosWrapperBase & c) = delete;
-  NebulaRosWrapperBase & operator=(const NebulaRosWrapperBase & c) = delete;
-
-  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
-  /// @return Resulting status
-  virtual Status StreamStart() = 0;
-
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  virtual Status StreamStop() = 0;
-
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  virtual Status Shutdown() = 0;
-
-private:
-  /// @brief Virtual function for initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
-
-  /// @brief Virtual function for initializing hardware monitor ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
-
-  /// @brief Virtual function for initializing ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) = 0;
-
-  /// @brief Point cloud publisher
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;
-};
-
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 4038565c4..456e49e11 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -8,9 +8,7 @@
 // #include "nebula_common/util/topic_delay.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-#include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
-#include "nebula_ros/common/nebula_ros_wrapper_base.hpp"
+#include "nebula_ros/hesai/mt_queue.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -27,8 +25,6 @@
 #include <mutex>
 #include <thread>
 
-#include "nebula_ros/hesai/mt_queue.hpp"
-
 namespace nebula
 {
 namespace ros
@@ -54,7 +50,7 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
 }
 
 /// @brief Ros wrapper of hesai driver
-class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
+class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
   explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
@@ -66,36 +62,17 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 
   /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
   /// @return Resulting status
-  Status StreamStart() override;
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  Status StreamStop() override;
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  Status Shutdown() override;
+  Status StreamStart();
 
 private:
-  /// @brief Initialize pointcloud decoder
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver (only for AT128, ignored otherwise)
-  /// @return Resulting status
-  Status InitializeCloudDriver(
-    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
-
-  Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) {
-      return InitializeCloudDriver(sensor_configuration, calibration_configuration, nullptr);
-    }
+  Status InitializeHwInterface();
+  Status InitializeDecoder();
+  Status InitializeHwMonitor();
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(
-    drivers::HesaiSensorConfiguration & sensor_configuration);
+  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
 
   /// @brief Get calibration data from the sensor
   /// @param calibration_configuration Output of CalibrationConfiguration
@@ -123,11 +100,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
     const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
 
-  /// @brief Initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
@@ -145,12 +117,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @return SetParametersResult
   std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
 
-  /// @brief Initializing hardware monitor ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
-
   /// @brief Initializing diagnostics
   void InitializeHesaiDiagnostics();
   /// @brief Callback of the timer for getting the current lidar status
@@ -192,7 +158,10 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::string GetFixedPrecisionString(double val, int pre = 2);
 
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  drivers::HesaiHwInterface hw_interface_;
+
   Status wrapper_status_;
+  Status interface_status_;
 
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
@@ -202,15 +171,15 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
   std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
 
+  /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  /// @brief Thread to isolate decoding from receiving
   std::thread decoder_thread_;
 
-  Status interface_status_;
-
-  //todo: temporary class member during single node refactoring
+  // todo: temporary class member during single node refactoring
   bool launch_hw_;
 
-  //todo: temporary class member during single node refactoring
+  // todo: temporary class member during single node refactoring
   std::string calibration_file_path;
   /// @brief File path of Correction data (Only required only for AT)
   std::string correction_file_path;
@@ -218,9 +187,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @brief Received Hesai message publisher
   rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
 
-  drivers::HesaiHwInterface hw_interface_;
-
-  uint16_t delay_hw_ms_;
   bool retry_hw_;
   std::mutex mtx_config_;
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
@@ -228,39 +194,35 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   diagnostic_updater::Updater diagnostics_updater_;
 
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
-  rclcpp::TimerBase::SharedPtr diagnostics_update_monitor_timer_;
   rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_;
-  std::unique_ptr<HesaiLidarStatus> current_status;
-  std::unique_ptr<HesaiLidarMonitor> current_monitor;
-  std::unique_ptr<HesaiConfig> current_config;
-  std::unique_ptr<HesaiInventory> current_inventory;
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree;
-  std::unique_ptr<rclcpp::Time> current_status_time;
-  std::unique_ptr<rclcpp::Time> current_config_time;
-  std::unique_ptr<rclcpp::Time> current_inventory_time;
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time;
-  uint8_t current_diag_status;
-  uint8_t current_monitor_status;
 
-  uint16_t diag_span_;
-  uint16_t delay_monitor_ms_;
-  std::mutex mtx_diag;
-  std::mutex mtx_status;
-  std::mutex mtx_lidar_monitor;
+  std::unique_ptr<HesaiLidarStatus> current_status_;
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_;
+  std::unique_ptr<HesaiConfig> current_config_;
+  std::unique_ptr<HesaiInventory> current_inventory_;
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_;
+
+  std::unique_ptr<rclcpp::Time> current_status_time_;
+  std::unique_ptr<rclcpp::Time> current_config_time_;
+  std::unique_ptr<rclcpp::Time> current_inventory_time_;
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_;
 
-  std::string info_model;
-  std::string info_serial;
-  rclcpp::CallbackGroup::SharedPtr cbg_r_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m2_;
+  uint8_t current_diag_status_;
+  uint8_t current_monitor_status_;
+
+  uint16_t diag_span_;
+  std::mutex mtx_lidar_status_;
+  std::mutex mtx_lidar_monitor_;
 
-  const char * not_supported_message;
-  const char * error_message;
-  std::string message_sep;
+  std::string info_model_;
+  std::string info_serial_;
 
-  std::vector<std::string> temperature_names;
+  std::vector<std::string> temperature_names_;
 
   bool setup_sensor;
+  const std::string MSG_NOT_SUPPORTED = "Not supported";
+  const std::string MSG_ERROR = "Error";
+  const std::string MSG_SEP = ": ";
 };
 
 }  // namespace ros
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1540df3fa..f0e6c121a 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,115 +7,164 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
-  diagnostics_updater_(this),
-  packet_queue_(3000)
+  packet_queue_(3000),
+  diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   drivers::HesaiSensorConfiguration sensor_configuration;
   wrapper_status_ = GetParameters(sensor_configuration);
   sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+  // DeclareRosParameters();
+  // auto sensor_cfg_ptr = GetRosParameters();
+  InitializeHwInterface();
+  InitializeDecoder();
+  InitializeHwMonitor();
+  // StreamStart();
 
-  // hwiface
-  {
-    if (Status::OK != interface_status_) {
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-      return;
-    }
-    hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    Status rt = hw_interface_.InitializeTcpDriver();
-    if (this->retry_hw_) {
-      int cnt = 0;
-      RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      while (rt == Status::ERROR_1) {
-        cnt++;
-        std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-        RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-        rt = hw_interface_.InitializeTcpDriver();
-      }
+
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+
+  set_param_res_ = this->add_on_set_parameters_callback(
+    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+}
+
+Status HesaiRosWrapper::InitializeHwInterface()
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return interface_status_;
+  }
+  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+  
+  Status status;
+  int retry_count = 0;
+
+  while (true) {
+    status = hw_interface_.InitializeTcpDriver();
+    if (status == Status::OK || !retry_hw_) {
+      break;
     }
 
-    if (rt != Status::ERROR_1) {
-      try {
-        std::vector<std::thread> thread_pool{};
-        thread_pool.emplace_back([this] {
-          auto result = hw_interface_.GetInventory();
-          RCLCPP_INFO_STREAM(get_logger(), result);
-          hw_interface_.SetTargetModel(result.model);
-        });
-        for (std::thread & th : thread_pool) {
-          th.join();
-        }
+    retry_count++;
+    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
+  };
 
-      } catch (...) {
-        std::cout << "catch (...) in parent" << std::endl;
-        RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-      }
-      if (this->setup_sensor) {
-        hw_interface_.CheckAndSetConfig();
-        updateParameters();
-      }
-    } else {
-      RCLCPP_ERROR_STREAM(
-        get_logger(),
-        "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-      hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+  if (status == Status::OK) {
+    try {
+      auto inventory = hw_interface_.GetInventory();
+      RCLCPP_INFO_STREAM(get_logger(), inventory);
+      hw_interface_.SetTargetModel(inventory.model);
+    } catch (...) {
+      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
     }
+    if (this->setup_sensor) {
+      hw_interface_.CheckAndSetConfig();
+      updateParameters();
+    }
+  } else {
+    RCLCPP_ERROR_STREAM(
+      get_logger(),
+      "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
   }
-  // decoder
-  {
-    drivers::HesaiCalibrationConfiguration calibration_configuration;
-    drivers::HesaiCorrection correction_configuration;
 
-    wrapper_status_ = GetCalibrationData(calibration_configuration, correction_configuration);
-    if (Status::OK != wrapper_status_) {
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-      return;
-    }
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-    calibration_cfg_ptr_ =
-      std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
-    // Will be left empty for AT128, and ignored by all decoders except AT128
-    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
-
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-    wrapper_status_ = InitializeCloudDriver(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-    auto pointcloud_qos =
-      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
-
-    decoder_thread_ = std::thread([this](){
-      while(true) {
-        auto pkt = packet_queue_.pop();
-        this->ProcessCloudPacket(std::move(pkt));
-      }
-    });
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::InitializeDecoder()
+{
+  calibration_cfg_ptr_ = std::make_shared<drivers::HesaiCalibrationConfiguration>();
+  correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>();
 
-    nebula_points_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
-    aw_points_base_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
-    aw_points_ex_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+  wrapper_status_ = GetCalibrationData(*calibration_cfg_ptr_, *correction_cfg_ptr_);
+  if (Status::OK != wrapper_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    return wrapper_status_;
   }
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+  auto pointcloud_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+
+  decoder_thread_ = std::thread([this]() {
+    while (true) {
+      auto pkt = packet_queue_.pop();
+      this->ProcessCloudPacket(std::move(pkt));
+    }
+  });
 
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+  nebula_points_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
+  aw_points_base_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
 
-  InitializeHwMonitor(*sensor_cfg_ptr_);
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    sensor_cfg_ptr_, calibration_cfg_ptr_, correction_cfg_ptr_);
+  return driver_ptr_->GetStatus();
+}
 
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+Status HesaiRosWrapper::InitializeHwMonitor()
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return Status::ERROR_1;
+  }
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names_.emplace_back("Bottom circuit board T1");
+      temperature_names_.emplace_back("Bottom circuit board T2");
+      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names_.emplace_back("Laser emitting board RT_L2");
+      temperature_names_.emplace_back("Receiving board RT_R");
+      temperature_names_.emplace_back("Receiving board RT2");
+      temperature_names_.emplace_back("Top circuit RT3");
+      temperature_names_.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names_.emplace_back("Bottom circuit RT1");
+      temperature_names_.emplace_back("Bottom circuit RT2");
+      temperature_names_.emplace_back("Internal Temperature");
+      temperature_names_.emplace_back("Laser emitting board RT1");
+      temperature_names_.emplace_back("Laser emitting board RT2");
+      temperature_names_.emplace_back("Receiving board RT1");
+      temperature_names_.emplace_back("Top circuit RT1");
+      temperature_names_.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface_.GetInventory();
+  current_inventory_.reset(new HesaiInventory(result));
+  current_inventory_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model_ = result.get_str_model();
+  info_serial_ = std::string(result.sn.begin(), result.sn.end());
+  hw_interface_.SetTargetModel(result.model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model_);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial_);
+  InitializeHesaiDiagnostics();
+  return Status::OK;
 }
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
@@ -227,18 +276,6 @@ void HesaiRosWrapper::PublishCloud(
   publisher->publish(std::move(pointcloud));
 }
 
-Status HesaiRosWrapper::InitializeCloudDriver(
-  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
-  return driver_ptr_->GetStatus();
-}
-
 Status HesaiRosWrapper::GetStatus()
 {
   return wrapper_status_;
@@ -766,85 +803,6 @@ Status HesaiRosWrapper::StreamStart()
   return interface_status_;
 }
 
-Status HesaiRosWrapper::StreamStop()
-{
-  return Status::OK;
-}
-Status HesaiRosWrapper::Shutdown()
-{
-  return Status::OK;
-}
-
-Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & /* sensor_configuration */)
-{
-  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return Status::ERROR_1;
-  }
-
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
-
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  auto result = hw_interface_.GetInventory();
-  current_inventory.reset(new HesaiInventory(result));
-  current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  std::cout << "HesaiInventory" << std::endl;
-  std::cout << result << std::endl;
-  info_model = result.get_str_model();
-  info_serial = std::string(result.sn.begin(), result.sn.end());
-  hw_interface_.SetTargetModel(result.model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-  InitializeHesaiDiagnostics();
-  return Status::OK;
-}
-
 rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
@@ -926,7 +884,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
   using std::chrono_literals::operator""s;
   std::ostringstream os;
-  auto hardware_id = info_model + ": " + info_serial;
+  auto hardware_id = info_model_ + ": " + info_serial_;
   diagnostics_updater_.setHardwareID(hardware_id);
   RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
 
@@ -935,12 +893,12 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
   diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
 
-  current_status.reset();
-  current_monitor.reset();
-  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_status_.reset();
+  current_monitor_.reset();
+  current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
   auto fetch_diag_from_sensor = [this]() {
     OnHesaiStatusTimer();
@@ -952,10 +910,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   };
 
   fetch_diagnostics_timer_ =
-    std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-      this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-      this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
+    create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
@@ -966,32 +921,30 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   auto on_timer_update = [this] {
     RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
     auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time).seconds();
+    auto dif = (now - *current_status_time_).seconds();
 
     RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
 
     if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
     } else {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(get_logger(), "OK");
     }
-    dif = (now - *current_lidar_monitor_time).seconds();
+    dif = (now - *current_lidar_monitor_time_).seconds();
     RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
     if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
     } else {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(get_logger(), "OK");
     }
     diagnostics_updater_.force_update();
   };
-  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
-    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
+  diagnostics_update_timer_ =
+    create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
 
   RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
 }
@@ -1003,7 +956,7 @@ std::string HesaiRosWrapper::GetPtreeValue(
   if (value) {
     return value.get();
   } else {
-    return not_supported_message;
+    return MSG_NOT_SUPPORTED;
   }
 }
 std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
@@ -1018,9 +971,9 @@ void HesaiRosWrapper::OnHesaiStatusTimer()
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
   try {
     auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_status);
-    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status.reset(new HesaiLidarStatus(result));
+    std::scoped_lock lock(mtx_lidar_status_);
+    current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_status_.reset(new HesaiLidarStatus(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
       rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
@@ -1037,9 +990,9 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
   try {
     hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor);
-      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree =
+      std::scoped_lock lock(mtx_lidar_monitor_);
+      current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+      current_lidar_monitor_tree_ =
         std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
     });
   } catch (const std::system_error & error) {
@@ -1059,11 +1012,10 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
 {
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
   try {
-    auto ios = std::make_shared<boost::asio::io_service>();
     auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor);
-    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor.reset(new HesaiLidarMonitor(result));
+    std::scoped_lock lock(mtx_lidar_monitor_);
+    current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_monitor_.reset(new HesaiLidarMonitor(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
       rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
@@ -1078,14 +1030,14 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
 
 void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
-    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
-    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
-    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
+    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime));
+    diagnostics.add("startup_times", std::to_string(current_status_->startup_times));
+    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1095,13 +1047,13 @@ void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapp
 
 void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    auto gps_status = current_status->get_str_gps_pps_lock();
-    auto gprmc_status = current_status->get_str_gps_gprmc_status();
-    auto ptp_status = current_status->get_str_ptp_clock_status();
+    auto gps_status = current_status_->get_str_gps_pps_lock();
+    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
+    auto ptp_status = current_status_->get_str_ptp_clock_status();
     std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
     std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
     std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
@@ -1129,13 +1081,13 @@ void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper
 void HesaiRosWrapper::HesaiCheckTemperature(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    for (size_t i = 0; i < current_status->temperature.size(); i++) {
+    for (size_t i = 0; i < current_status_->temperature.size(); i++) {
       diagnostics.add(
-        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
+        temperature_names_[i], GetFixedPrecisionString(current_status_->temperature[i] * 0.01));
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1145,11 +1097,11 @@ void HesaiRosWrapper::HesaiCheckTemperature(
 
 void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
+    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1160,8 +1112,8 @@ void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper
 void HesaiRosWrapper::HesaiCheckVoltageHttp(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_lidar_monitor_tree) {
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_lidar_monitor_tree_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     std::string key = "";
@@ -1169,18 +1121,18 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
     std::string mes;
     key = "lidarInCur";
     try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
     } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
+      mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
     key = "lidarInVol";
     try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
     } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
+      mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
 
@@ -1192,16 +1144,16 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
 
 void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_monitor) {
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_monitor_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
+      "input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage * 0.01) + " V");
     diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
+      "input_current", GetFixedPrecisionString(current_monitor_->input_current * 0.01) + " mA");
     diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
+      "input_power", GetFixedPrecisionString(current_monitor_->input_power * 0.01) + " W");
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {

From b20317630dc33c4eb941a723b31d687068fff639 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 9 Apr 2024 18:45:41 +0900
Subject: [PATCH 023/122] feat(hesai_ros_wrapper): publish/subscribe to legacy
 pandar_packets on demand

---
 .../hesai_hw_interface.hpp                    |   8 +-
 .../hesai_hw_interface.cpp                    |  70 ++----------
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  52 +++++----
 .../include/nebula_ros/hesai/mt_queue.hpp     |  13 ++-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 101 +++++++++++++-----
 5 files changed, 124 insertions(+), 120 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index b5635d933..e58705e63 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -104,7 +104,7 @@ const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
 
 /// @brief Hardware interface of hesai driver
-class HesaiHwInterface : NebulaHwInterfaceBase
+class HesaiHwInterface : public NebulaHwInterfaceBase
 {
 private:
   typedef nebula::util::expected<std::vector<uint8_t>, uint32_t> ptc_cmd_result_t;
@@ -114,12 +114,6 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
   std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
   std::shared_ptr<HesaiSensorConfiguration> sensor_configuration_;
-  std::shared_ptr<HesaiCalibrationConfiguration> calibration_configuration_;
-  size_t azimuth_index_{};
-  size_t mtu_size_{};
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
-  std::function<bool(size_t)>
-    is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 7ec3f73a8..a54c5dc40 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -17,8 +17,7 @@ HesaiHwInterface::HesaiHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
   m_owned_ctx{new boost::asio::io_context(1)},
   cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)},
-  tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)},
-  scan_cloud_ptr_{std::make_unique<pandar_msgs::msg::PandarScan>()}
+  tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)}
 {
 }
 HesaiHwInterface::~HesaiHwInterface()
@@ -141,63 +140,8 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
 Status HesaiHwInterface::SetSensorConfiguration(
   std::shared_ptr<SensorConfigurationBase> sensor_configuration)
 {
-  HesaiStatus status = Status::OK;
-  mtu_size_ = MTU_SIZE;
-  is_solid_state = false;
-  try {
-    sensor_configuration_ =
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
-    if (
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR40P ||
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR40P) {
-      azimuth_index_ = 2;
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR40_PACKET_SIZE || packet_size == PANDAR40P_EXTENDED_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT64) {
-      azimuth_index_ = 12;  // 12 + 258 * [0-3]
-      is_valid_packet_ = [](size_t packet_size) { return (packet_size == PANDARQT64_PACKET_SIZE); };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT128) {
-      azimuth_index_ = 12;  // 12 + 514 * [0-1]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARQT128_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARXT32) {
-      azimuth_index_ = 12;  // 12 + 130 * [0-7]
-      is_valid_packet_ = [](size_t packet_size) { return (packet_size == PANDARXT32_PACKET_SIZE); };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARXT32M) {
-      azimuth_index_ = 12;  // 12 + 130 * [0-7]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARXT32M_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARAT128) {
-      azimuth_index_ = 12;  // 12 + 4 * 128 * [0-1]
-      is_solid_state = true;
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARAT128_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR64) {
-      azimuth_index_ = 8;  // 8 + 192 * [0-5]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR64_PACKET_SIZE || packet_size == PANDAR64_EXTENDED_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR128_E4X) {
-      azimuth_index_ = 12;  // 12
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR128_E4X_EXTENDED_PACKET_SIZE ||
-          packet_size == PANDAR128_E4X_PACKET_SIZE);
-      };
-    } else {
-      status = Status::INVALID_SENSOR_MODEL;
-    }
-  } catch (const std::exception & ex) {
-    status = Status::SENSOR_CONFIG_ERROR;
-    std::cerr << status << std::endl;
-    return status;
-  }
+  sensor_configuration_ =
+    std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
   return Status::OK;
 }
 
@@ -242,10 +186,6 @@ Status HesaiHwInterface::RegisterScanCallback(
 
 void HesaiHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
-  // if (!is_valid_packet_(buffer.size())) {
-  //   PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
-  //   return;
-  // } TODO
   cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
@@ -297,7 +237,9 @@ Status HesaiHwInterface::InitializeTcpDriver()
 Status HesaiHwInterface::FinalizeTcpDriver()
 {
   try {
-    tcp_driver_->close();
+    if (tcp_driver_) {
+      tcp_driver_->close();
+    }
   } catch (std::exception & e) {
     PrintError("Error while finalizing the TcpDriver");
     return Status::UDP_CONNECTION_ERROR;
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 2ba2e2407..9c50e20eb 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -16,6 +16,8 @@
 #include <rclcpp_components/register_node_macro.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
@@ -105,6 +107,10 @@ class HesaiRosWrapper final : public rclcpp::Node
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
 
+  /// @brief Callback for receiving replayed, aggregated packets (= scan messages)
+  /// @param scan_msg 
+  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
+
   /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
   /// @param packet_msg The received packet message
   void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
@@ -158,19 +164,23 @@ class HesaiRosWrapper final : public rclcpp::Node
   /// @return Created string
   std::string GetFixedPrecisionString(double val, int pre = 2);
 
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
-  drivers::HesaiHwInterface hw_interface_;
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
+  drivers::HesaiHwInterface hw_interface_{};
 
   Status wrapper_status_;
   Status interface_status_;
 
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
+  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
+
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
 
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_{};
+  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
+  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
@@ -186,27 +196,27 @@ class HesaiRosWrapper final : public rclcpp::Node
   std::string correction_file_path;
 
   /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_{};
 
   bool retry_hw_;
   std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
+  OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
 
   diagnostic_updater::Updater diagnostics_updater_;
 
-  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
-  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_;
+  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
+  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
 
-  std::unique_ptr<HesaiLidarStatus> current_status_;
-  std::unique_ptr<HesaiLidarMonitor> current_monitor_;
-  std::unique_ptr<HesaiConfig> current_config_;
-  std::unique_ptr<HesaiInventory> current_inventory_;
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_;
+  std::unique_ptr<HesaiLidarStatus> current_status_{};
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
+  std::unique_ptr<HesaiConfig> current_config_{};
+  std::unique_ptr<HesaiInventory> current_inventory_{};
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
 
-  std::unique_ptr<rclcpp::Time> current_status_time_;
-  std::unique_ptr<rclcpp::Time> current_config_time_;
-  std::unique_ptr<rclcpp::Time> current_inventory_time_;
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_;
+  std::unique_ptr<rclcpp::Time> current_status_time_{};
+  std::unique_ptr<rclcpp::Time> current_config_time_{};
+  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
 
   uint8_t current_diag_status_;
   uint8_t current_monitor_status_;
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 730b54f7c..67b287ddc 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -16,7 +16,7 @@ class mt_queue
 public:
   mt_queue(size_t capacity) : capacity_(capacity) {}
 
-  bool push(T && value)
+  bool try_push(T && value)
   {
     {
       std::unique_lock<std::mutex> lock(this->mutex_);
@@ -29,6 +29,17 @@ class mt_queue
     this->condition_variable_.notify_one();
     return true;
   }
+
+  void push(T && value)
+  {
+    {
+      std::unique_lock<std::mutex> lock(this->mutex_);
+      this->condition_variable_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
+      queue_.push_front(std::move(value));
+    }
+    this->condition_variable_.notify_one();
+  }
+
   T pop()
   {
     std::unique_lock<std::mutex> lock(this->mutex_);
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 2c9bc7ef0..847039a9b 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,26 +7,29 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
+  wrapper_status_(Status::NOT_INITIALIZED),
+  interface_status_(Status::NOT_INITIALIZED),
   packet_queue_(3000),
   diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  drivers::HesaiSensorConfiguration sensor_configuration;
-  wrapper_status_ = GetParameters(sensor_configuration);
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-  // DeclareRosParameters();
-  // auto sensor_cfg_ptr = GetRosParameters();
+  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>();
+  wrapper_status_ = GetParameters(*sensor_cfg_ptr_);
+
   InitializeHwInterface();
   InitializeDecoder();
-  InitializeHwMonitor();
-  // StreamStart();
-
 
   RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+
+  if (launch_hw_) {
+    InitializeHwMonitor();
+    StreamStart();
+    hw_interface_.RegisterScanCallback(
+      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+  } else {
+    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+  }
 
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
@@ -34,29 +37,31 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 Status HesaiRosWrapper::InitializeHwInterface()
 {
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return interface_status_;
-  }
+  interface_status_ = Status::OK;
+
   hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
   hw_interface_.SetSensorConfiguration(
     std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-  
-  Status status;
+  hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+
+  if (!launch_hw_) {
+    return interface_status_;
+  }
+
   int retry_count = 0;
 
   while (true) {
-    status = hw_interface_.InitializeTcpDriver();
-    if (status == Status::OK || !retry_hw_) {
+    interface_status_ = hw_interface_.InitializeTcpDriver();
+    if (interface_status_ == Status::OK || !retry_hw_) {
       break;
     }
 
     retry_count++;
     std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
     RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
-  };
+  }
 
-  if (status == Status::OK) {
+  if (interface_status_ == Status::OK) {
     try {
       auto inventory = hw_interface_.GetInventory();
       RCLCPP_INFO_STREAM(get_logger(), inventory);
@@ -72,9 +77,12 @@ Status HesaiRosWrapper::InitializeHwInterface()
     RCLCPP_ERROR_STREAM(
       get_logger(),
       "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
   }
 
+  pandar_scan_pub_ =
+    create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+  current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+
   return Status::OK;
 }
 
@@ -191,13 +199,32 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
-  if (!packet_queue_.push(std::move(msg_ptr))) {
+  if (!packet_queue_.try_push(std::move(msg_ptr))) {
     RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 
+void HesaiRosWrapper::ReceiveScanMessageCallback(
+  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
+{
+  if (launch_hw_) {
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 1000,
+      "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+    return;
+  }
+
+  for (auto & pkt : scan_msg->packets) {
+    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+    nebula_pkt_ptr->stamp = pkt.stamp;
+    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
+
+    packet_queue_.push(std::move(nebula_pkt_ptr));
+  }
+}
+
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
   // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
@@ -207,6 +234,22 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
 
   // delay.tick(packet_msg->stamp);
 
+  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
+  if (
+    pandar_scan_pub_ &&
+    (pandar_scan_pub_->get_subscription_count() > 0 ||
+    pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
+    if (current_scan_msg_->packets.size() == 0) {
+      current_scan_msg_->header.stamp = packet_msg->stamp;
+    }
+
+    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
+    pandar_packet_msg.stamp = packet_msg->stamp;
+    pandar_packet_msg.size = packet_msg->data.size();
+    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
+    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
+  }
+
   // parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
@@ -218,6 +261,13 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
     return;
   };
+
+  // Publish scan message only if it has been written to
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
+    pandar_scan_pub_->publish(std::move(current_scan_msg_));
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+  }
+
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
@@ -577,11 +627,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
   hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
 
   RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
   return Status::OK;

From bebae29160ccc3dc83bc66dded4dddb0ab097c28 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 9 Apr 2024 18:46:05 +0900
Subject: [PATCH 024/122] change launch file back to single-threaded container

---
 nebula_ros/launch/hesai_launch_all_hw.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index b7c1459ec..1bd285766 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,7 +33,7 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node_container pkg="rclcpp_components" exec="component_container_mt" name="nebula_container" 
+    <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container" 
         output="screen" ros_args="--log-level $(var debug_level)" namespace="">
         <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"
                name="nebula_hesai">

From 38072d4f8a8c930b02fd942c73dd1f2615c3c42e Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 10 Apr 2024 12:23:36 +0900
Subject: [PATCH 025/122] attempt to make queue contention less bad

---
 .../include/nebula_ros/hesai/mt_queue.hpp     | 37 +++++++++++--------
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 12 ++++--
 2 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 67b287ddc..a259a80ba 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -9,7 +9,7 @@ class mt_queue
 {
 private:
   std::mutex mutex_;
-  std::condition_variable condition_variable_;
+  std::condition_variable cv_not_empty_, cv_not_full_;
   std::deque<T> queue_;
   size_t capacity_;
 
@@ -18,34 +18,39 @@ class mt_queue
 
   bool try_push(T && value)
   {
-    {
-      std::unique_lock<std::mutex> lock(this->mutex_);
-      if (queue_.size() == capacity_) {
-        return false;
-      }
-
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    bool can_push = queue_.size() < capacity_;
+    if (can_push) {
       queue_.push_front(std::move(value));
     }
-    this->condition_variable_.notify_one();
-    return true;
+    this->cv_not_empty_.notify_all();
+    return can_push;
   }
 
   void push(T && value)
   {
-    {
-      std::unique_lock<std::mutex> lock(this->mutex_);
-      this->condition_variable_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
-      queue_.push_front(std::move(value));
-    }
-    this->condition_variable_.notify_one();
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->cv_not_full_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
+    queue_.push_front(std::move(value));
+    this->cv_not_empty_.notify_all();
   }
 
   T pop()
   {
     std::unique_lock<std::mutex> lock(this->mutex_);
-    this->condition_variable_.wait(lock, [=] { return !this->queue_.empty(); });
+    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
     T return_value(std::move(this->queue_.back()));
     this->queue_.pop_back();
+    this->cv_not_full_.notify_all();
+
     return return_value;
   }
+
+  void pop_all(std::deque<T> & dest) {
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
+    dest.insert(dest.end(), std::make_move_iterator(queue_.begin()), std::make_move_iterator(queue_.end()));
+    this->queue_.clear();
+    this->cv_not_full_.notify_all();
+  }
 };
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 847039a9b..27ad7b3b3 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -104,9 +104,15 @@ Status HesaiRosWrapper::InitializeDecoder()
     rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
   decoder_thread_ = std::thread([this]() {
+    std::deque<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> received{};
     while (true) {
-      auto pkt = packet_queue_.pop();
-      this->ProcessCloudPacket(std::move(pkt));
+      packet_queue_.pop_all(received);
+
+      while (!received.empty()) {
+        auto pkt = std::move(received.back());
+        received.pop_back();
+        this->ProcessCloudPacket(std::move(pkt));
+      }
     }
   });
 
@@ -200,7 +206,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 
   // publish.tick();
   if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
+    RCLCPP_ERROR(get_logger(), "Packet dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();

From 0215d7cca3939cd7e96fbda8696e56e47475269f Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 11 Apr 2024 19:00:25 +0900
Subject: [PATCH 026/122] chore(hesai_ros_wrapper): reduce logging output

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 27ad7b3b3..56ed46ca4 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -206,7 +206,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 
   // publish.tick();
   if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR(get_logger(), "Packet dropped");
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();

From d0f10cbd5686c19b45bdc48c2eb9dc93fd49dfb1 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 11 Apr 2024 19:18:35 +0900
Subject: [PATCH 027/122] feat(hesai_ros_wrapper): print warning when connected
 to HW and receiving /pandar_packets

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 56ed46ca4..38b224fb3 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -27,10 +27,11 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     StreamStart();
     hw_interface_.RegisterScanCallback(
       std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  } else {
-    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
   }
 
+  packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), 
+    std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
@@ -104,15 +105,8 @@ Status HesaiRosWrapper::InitializeDecoder()
     rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
   decoder_thread_ = std::thread([this]() {
-    std::deque<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> received{};
     while (true) {
-      packet_queue_.pop_all(received);
-
-      while (!received.empty()) {
-        auto pkt = std::move(received.back());
-        received.pop_back();
-        this->ProcessCloudPacket(std::move(pkt));
-      }
+        this->ProcessCloudPacket(std::move(packet_queue_.pop()));
     }
   });
 
@@ -242,7 +236,7 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
 
   // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
   if (
-    pandar_scan_pub_ &&
+    launch_hw_ &&
     (pandar_scan_pub_->get_subscription_count() > 0 ||
     pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
     if (current_scan_msg_->packets.size() == 0) {

From 7fd450b5d3504612a6edce1425e726244c0bc106 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 12 Apr 2024 14:43:27 +0900
Subject: [PATCH 028/122] feat(nebula_launch.py): throw error when trying to
 launch Hesai sensor and refer to hesai_launch_all_hw.xml

---
 nebula_ros/launch/nebula_launch.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py
index b394498fb..74d3eb475 100644
--- a/nebula_ros/launch/nebula_launch.py
+++ b/nebula_ros/launch/nebula_launch.py
@@ -41,8 +41,11 @@ def launch_setup(context, *args, **kwargs):
     # Model and make
     sensor_model = LaunchConfiguration("sensor_model").perform(context)
     calibration_file = LaunchConfiguration("calibration_file").perform(context)
-    correction_file = LaunchConfiguration("correction_file").perform(context)
     sensor_make, sensor_extension = get_sensor_make(sensor_model)
+
+    if sensor_make.lower() == "hesai":
+        raise ValueError("\n  `nebula_launch.py` is deprecated. For Hesai sensors, use `hesai_launch_all_hw.xml` instead.")
+
     nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
     nebula_ros_share_dir = get_package_share_directory("nebula_ros")
 
@@ -84,7 +87,6 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_corr_fp,
                         "setup_sensor": LaunchConfiguration("setup_sensor"),
                         "ptp_profile": LaunchConfiguration("ptp_profile"),
                         "ptp_domain": LaunchConfiguration("ptp_domain"),
@@ -110,7 +112,6 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_corr_fp,
                     },
                 ],
             )
@@ -127,7 +128,6 @@ def launch_setup(context, *args, **kwargs):
                     "sensor_ip": LaunchConfiguration("sensor_ip"),
                     "return_mode": LaunchConfiguration("return_mode"),
                     "calibration_file": calibration_file or sensor_calib_fp,
-                    "correction_file": correction_file or sensor_corr_fp,
                     "launch_hw": LaunchConfiguration("launch_hw"),
                     "ptp_profile": LaunchConfiguration("ptp_profile"),
                     "ptp_domain": LaunchConfiguration("ptp_domain"),

From a857d50b2827752074bf243a33a4860fe1afba80 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 16 Apr 2024 17:57:28 +0900
Subject: [PATCH 029/122] chore: update cspell ignore

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 0c03c3c9e..954da496b 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,3 +1,4 @@
+// cspell:ignore piyush, fout
 /**
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,

From 77b933f56c82d90bf38d515aad257c3ca0fce730 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:38:39 +0900
Subject: [PATCH 030/122] refactor(nebula_ros): split single wrapper file into
 3 sub-wrappers

---
 .cspell.json                                  |   29 +-
 .../nebula_common/hesai/hesai_common.hpp      |   35 +-
 .../include/nebula_common/util/expected.hpp   |    3 +
 .../decoders/hesai_packet.hpp                 |    2 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |   15 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    |   55 +-
 .../hesai_hw_interface.cpp                    |   24 +-
 nebula_ros/CMakeLists.txt                     |    4 +
 .../nebula_ros/hesai/decoder_wrapper.hpp      |   66 +
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  181 +--
 .../nebula_ros/hesai/hw_interface_wrapper.hpp |   32 +
 .../nebula_ros/hesai/hw_monitor_wrapper.hpp   |   95 ++
 .../include/nebula_ros/hesai/mt_queue.hpp     |    9 +-
 nebula_ros/package.xml                        |    1 +
 nebula_ros/src/hesai/decoder_wrapper.cpp      |  255 ++++
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 1159 +++--------------
 nebula_ros/src/hesai/hw_interface_wrapper.cpp |   94 ++
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp   |  412 ++++++
 18 files changed, 1269 insertions(+), 1202 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
 create mode 100644 nebula_ros/src/hesai/decoder_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hw_interface_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hw_monitor_wrapper.cpp

diff --git a/.cspell.json b/.cspell.json
index 4f17f7ddd..7b1d6b2be 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -6,14 +6,26 @@
     "adctp",
     "Adctp",
     "AT",
+    "autosar",
     "block_id",
+    "Bpearl",
+    "calib",
+    "DHAVE",
+    "Difop",
     "extrinsics",
     "gprmc",
+    "gptp",
+    "Helios",
     "Hesai",
+    "Idat",
+    "ipaddr",
+    "manc",
     "memcpy",
     "mkdoxy",
+    "Msop",
     "nohup",
     "nproc",
+    "ntoa",
     "pandar",
     "PANDAR",
     "PANDARAT",
@@ -23,6 +35,7 @@
     "QT",
     "rclcpp",
     "schedutil",
+    "srvs",
     "STD_COUT",
     "stds",
     "struct",
@@ -30,20 +43,8 @@
     "UDP_SEQ",
     "vccint",
     "Vccint",
-    "XT",
-    "XTM",
-    "DHAVE",
-    "Bpearl",
-    "Helios",
-    "Msop",
-    "Difop",
-    "gptp",
-    "Idat",
     "Vdat",
-    "autosar",
-    "srvs",
-    "manc",
-    "ipaddr",
-    "ntoa"
+    "XT",
+    "XTM"
   ]
 }
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
index 9c6e5d555..0c7ae1c1b 100644
--- a/nebula_common/include/nebula_common/hesai/hesai_common.hpp
+++ b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -14,7 +14,7 @@ namespace nebula
 namespace drivers
 {
 /// @brief struct for Hesai sensor configuration
-struct HesaiSensorConfiguration : LidarConfigurationBase
+struct HesaiSensorConfiguration : public LidarConfigurationBase
 {
   uint16_t gnss_port{};
   double scan_phase{};
@@ -43,13 +43,20 @@ inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration con
   return os;
 }
 
+struct HesaiCalibrationConfigurationBase : public CalibrationConfigurationBase
+{
+  virtual nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) = 0;
+  virtual nebula::Status LoadFromFile(const std::string & calibration_file) = 0;
+  virtual nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) = 0;
+};
+
 /// @brief struct for Hesai calibration configuration
-struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
+struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
 {
   std::map<size_t, float> elev_angle_map;
   std::map<size_t, float> azimuth_offset_map;
 
-  inline nebula::Status LoadFromFile(const std::string & calibration_file)
+  inline nebula::Status LoadFromFile(const std::string & calibration_file) override
   {
     std::ifstream ifs(calibration_file);
     if (!ifs) {
@@ -61,6 +68,11 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
     return LoadFromString(ss.str());
   }
 
+  nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) {
+    std::string calibration_string = std::string(buf.begin(), buf.end());
+    return LoadFromString(calibration_string);
+  }
+
   /// @brief Loading calibration data
   /// @param calibration_content
   /// @return Resulting status
@@ -99,7 +111,7 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
   /// @brief Saving calibration data (not used)
   /// @param calibration_file
   /// @return Resulting status
-  inline nebula::Status SaveFile(const std::string & calibration_file)
+  inline nebula::Status SaveToFile(const std::string & calibration_file)
   {
     std::ofstream ofs(calibration_file);
     if (!ofs) {
@@ -117,6 +129,11 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
     return Status::OK;
   }
 
+  nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) override {
+    std::string calibration_string = std::string(buf.begin(), buf.end());
+    return SaveFileFromString(calibration_file, calibration_string);
+  }
+
   /// @brief Saving calibration data from string
   /// @param calibration_file path
   /// @param calibration_string calibration string
@@ -134,7 +151,7 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
 };
 
 /// @brief struct for Hesai correction configuration (for AT)
-struct HesaiCorrection
+struct HesaiCorrection : public HesaiCalibrationConfigurationBase
 {
   uint16_t delimiter;
   uint8_t versionMajor;
@@ -156,7 +173,7 @@ struct HesaiCorrection
   /// @brief Load correction data from file
   /// @param buf Binary buffer
   /// @return Resulting status
-  inline nebula::Status LoadFromBinary(const std::vector<uint8_t> & buf)
+  inline nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) override
   {
     size_t index;
     for (index = 0; index < buf.size()-1; index++) {
@@ -258,7 +275,7 @@ struct HesaiCorrection
   /// @brief Load correction data from file
   /// @param correction_file path
   /// @return Resulting status
-  inline nebula::Status LoadFromFile(const std::string & correction_file)
+  inline nebula::Status LoadFromFile(const std::string & correction_file) override
   {
     std::ifstream ifs(correction_file, std::ios::in | std::ios::binary);
     if (!ifs) {
@@ -271,7 +288,7 @@ struct HesaiCorrection
       ifs.read((char *)&c, sizeof(unsigned char));
       buf.emplace_back(c);
     }
-    LoadFromBinary(buf);
+    LoadFromBytes(buf);
 
     ifs.close();
     return Status::OK;
@@ -281,7 +298,7 @@ struct HesaiCorrection
   /// @param correction_file path
   /// @param buf correction binary
   /// @return Resulting status
-  inline nebula::Status SaveFileFromBinary(const std::string & correction_file, const std::vector<uint8_t> & buf)
+  inline nebula::Status SaveToFileFromBytes(const std::string & correction_file, const std::vector<uint8_t> & buf) override
   {
     std::cerr << "Saving in:" << correction_file << "\n";
     std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index 4fc35b3fa..795e1f43e 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -29,6 +29,9 @@ struct expected
     return default_;
   }
 
+  /// @brief If the instance has a value, return the value, else throw std::runtime_error(error_msg)
+  /// @param error_msg The message to be included in the thrown exception
+  /// @return The value
   T value_or_throw(const std::string & error_msg) {
     if (has_value()) return value();
     throw std::runtime_error(error_msg);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
index 730888c91..0280f1ff7 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
@@ -190,7 +190,7 @@ struct PacketBase
 /// @brief Get the number of returns for a given return mode
 /// @param return_mode The return mode
 /// @return The number of returns
-int get_n_returns(uint8_t return_mode)
+inline int get_n_returns(uint8_t return_mode)
 {
   switch (return_mode) {
     case return_mode::SINGLE_FIRST:
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index a3f37cd32..5ee9892d4 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -34,12 +34,11 @@ class HesaiDriver : NebulaDriverBase
   HesaiDriver() = delete;
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver (for AT)
+  /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
+  /// for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-    const std::shared_ptr<drivers::HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
+      const std::shared_ptr<drivers::HesaiSensorConfiguration>& sensor_configuration,
+      const std::shared_ptr<drivers::CalibrationConfigurationBase>& calibration_configuration = nullptr);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -48,14 +47,12 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(
-    const CalibrationConfigurationBase & calibration_configuration) override;
+  Status SetCalibrationConfiguration(const CalibrationConfigurationBase& calibration_configuration) override;
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
-    const std::vector<uint8_t> & packet);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(const std::vector<uint8_t>& packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 61b969ed7..27624a469 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,53 +17,56 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(
-  const std::shared_ptr<HesaiSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<HesaiCalibrationConfiguration> & calibration_configuration,
-  const std::shared_ptr<HesaiCorrection> & correction_configuration)
+HesaiDriver::HesaiDriver(const std::shared_ptr<HesaiSensorConfiguration>& sensor_configuration,
+                         const std::shared_ptr<CalibrationConfigurationBase>& calibration_configuration)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
-  switch (sensor_configuration->sensor_model) {
+
+  std::shared_ptr<HesaiCalibrationConfiguration> calibration = nullptr;
+  std::shared_ptr<HesaiCorrection> correction = nullptr;
+
+  if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
+  {
+    correction = std::static_pointer_cast<HesaiCorrection>(calibration_configuration);
+  }
+  else
+  {
+    calibration = std::static_pointer_cast<HesaiCalibrationConfiguration>(calibration_configuration);
+  }
+
+  switch (sensor_configuration->sensor_model)
+  {
     case SensorModel::UNKNOWN:
       driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
       break;
     case SensorModel::HESAI_PANDAR64:
-      scan_decoder_.reset(new HesaiDecoder<Pandar64>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar64>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR40P:
     case SensorModel::HESAI_PANDAR40M:
-      scan_decoder_.reset(new HesaiDecoder<Pandar40>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar40>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARQT64:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARQT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARXT32:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARXT32M:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARAT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR128_E3X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR128_E4X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(sensor_configuration, calibration, correction));
       break;
     default:
       driver_status_ = nebula::Status::NOT_INITIALIZED;
@@ -78,13 +81,15 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
   auto logger = rclcpp::get_logger("HesaiDriver");
 
-  if (driver_status_ != nebula::Status::OK) {
+  if (driver_status_ != nebula::Status::OK)
+  {
     RCLCPP_ERROR(logger, "Driver not OK.");
     return pointcloud;
   }
 
   scan_decoder_->unpack(packet);
-  if (scan_decoder_->hasScanned()) {
+  if (scan_decoder_->hasScanned())
+  {
     pointcloud = scan_decoder_->getPointcloud();
   }
 
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index a54c5dc40..c522969a0 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -22,29 +22,7 @@ HesaiHwInterface::HesaiHwInterface()
 }
 HesaiHwInterface::~HesaiHwInterface()
 {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << ".......................st: HesaiHwInterface::~HesaiHwInterface()" << std::endl;
-#endif
-  if (tcp_driver_) {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    std::cout << ".......................tcp_driver_ is available" << std::endl;
-#endif
-    if (tcp_driver_ && tcp_driver_->isOpen()) {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-      std::cout << ".......................st: tcp_driver_->close();" << std::endl;
-#endif
-      tcp_driver_->close();
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-      std::cout << ".......................ed: tcp_driver_->close();" << std::endl;
-#endif
-    }
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    std::cout << ".......................ed: if(tcp_driver_)" << std::endl;
-#endif
-  }
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << ".......................ed: HesaiHwInterface::~HesaiHwInterface()" << std::endl;
-#endif
+  FinalizeTcpDriver();
 }
 
 HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 1bd697624..b11339765 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(nebula_hw_interfaces REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
 find_package(nebula_msgs REQUIRED)
+find_package(pandar_msgs REQUIRED)
 
 include_directories(
         include
@@ -36,6 +37,9 @@ link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES})
 ## Hesai
 ament_auto_add_library(hesai_ros_wrapper SHARED
         src/hesai/hesai_ros_wrapper.cpp
+        src/hesai/decoder_wrapper.cpp
+        src/hesai/hw_interface_wrapper.cpp
+        src/hesai/hw_monitor_wrapper.cpp
         )
 
 rclcpp_components_register_node(hesai_ros_wrapper
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
new file mode 100644
index 000000000..262c16839
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -0,0 +1,66 @@
+#pragma once
+
+#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+
+#include <nebula_common/nebula_common.hpp>
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include "nebula_msgs/msg/nebula_packet.hpp"
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
+
+#include <memory>
+#include <filesystem>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiDecoderWrapper
+{
+public:
+  HesaiDecoderWrapper(rclcpp::Node* const parent_node,
+                      const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                      std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
+  GetCalibrationData();
+
+  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+
+  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+
+  nebula::Status Status();
+
+private:
+  /// @brief Convert seconds to chrono::nanoseconds
+  /// @param seconds
+  /// @return chrono::nanoseconds
+  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
+  {
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(seconds));
+  }
+
+  nebula::Status status_;
+  rclcpp::Logger logger_;
+
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
+  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
+
+  std::string calibration_file_path_{};
+  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_{};
+
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
+  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
+
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 9c50e20eb..e037bce40 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,29 +4,27 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
-// #include "nebula_common/util/instrumentation.hpp"
-// #include "nebula_common/util/topic_delay.hpp"
-#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/hesai/decoder_wrapper.hpp"
+#include "nebula_ros/hesai/hw_interface_wrapper.hpp"
+#include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
 #include "nebula_ros/hesai/mt_queue.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
-#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
 #include <boost/lexical_cast.hpp>
 
+#include <array>
 #include <chrono>
 #include <mutex>
+#include <optional>
 #include <thread>
-#include <array>
 
 namespace nebula
 {
@@ -40,12 +38,12 @@ namespace ros
 /// @param value Corresponding value
 /// @return Whether the target name existed
 template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
+bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
 {
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
+  auto it = std::find_if(p.cbegin(), p.cend(),
+                         [&name](const rclcpp::Parameter& parameter) { return parameter.get_name() == name; });
+  if (it != p.cend())
+  {
     value = it->template get_value<T>();
     return true;
   }
@@ -56,8 +54,8 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
 class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
-  explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiRosWrapper();
+  explicit HesaiRosWrapper(const rclcpp::NodeOptions& options);
+  ~HesaiRosWrapper() noexcept;
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -68,172 +66,45 @@ class HesaiRosWrapper final : public rclcpp::Node
   Status StreamStart();
 
 private:
-  Status InitializeHwInterface();
-  Status InitializeDecoder();
-  Status InitializeHwMonitor();
+  void ReceiveCloudPacketCallback(std::vector<uint8_t>& packet);
+
+  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
+
+  Status DeclareAndGetSensorConfigParams();
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
-
-  /// @brief Get calibration data from the sensor
-  /// @param calibration_configuration Output of CalibrationConfiguration
-  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
-  /// @return Resulting status
-  Status GetCalibrationData(
-    drivers::HesaiCalibrationConfiguration & calibration_configuration,
-    drivers::HesaiCorrection & correction_configuration);
-
-  /// @brief Convert seconds to chrono::nanoseconds
-  /// @param seconds
-  /// @return chrono::nanoseconds
-  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
-  {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(seconds));
-  }
-
-  /***
-   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
-   * @param pointcloud unique pointer containing the point cloud to publish
-   * @param publisher
-   */
-  void PublishCloud(
-    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
-
-  /// @brief Callback for receiving a raw UDP packet
-  /// @param scan_buffer Received PandarScan
-  void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
-
-  /// @brief Callback for receiving replayed, aggregated packets (= scan messages)
-  /// @param scan_msg 
-  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
-
-  /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
-  /// @param packet_msg The received packet message
-  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+  Status DeclareAndGetWrapperParams();
 
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
+  rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter>& parameters);
+
   /// @brief Updating rclcpp parameter
   /// @return SetParametersResult
   std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
 
-  /// @brief Initializing diagnostics
-  void InitializeHesaiDiagnostics();
-  /// @brief Callback of the timer for getting the current lidar status
-  void OnHesaiStatusTimer();
-  /// @brief Callback of the timer for getting the current lidar monitor via http
-  void OnHesaiLidarMonitorTimerHttp();
-  /// @brief Callback of the timer for getting the current lidar monitor via tcp
-  void OnHesaiLidarMonitorTimer();
-  //  void OnHesaiDiagnosticsTimer();
-  //  void OnHesaiStatusTimer();
-
-  /// @brief Check status information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check ptp information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check temperature information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check rpm information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via http
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via tcp
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Get value from property_tree
-  /// @param pt property_tree
-  /// @param key Pey string
-  /// @return Value
-  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
-  /// @brief Making fixed precision string
-  /// @param val Target value
-  /// @param pre Precision
-  /// @return Created string
-  std::string GetFixedPrecisionString(double val, int pre = 2);
-
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
-  drivers::HesaiHwInterface hw_interface_{};
-
   Status wrapper_status_;
-  Status interface_status_;
 
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
-  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
-
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
-
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_{};
-  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_{};
+  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
   /// @brief Thread to isolate decoding from receiving
   std::thread decoder_thread_;
 
-  // todo: temporary class member during single node refactoring
-  bool launch_hw_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
 
-  // todo: temporary class member during single node refactoring
-  std::string calibration_file_path;
-  /// @brief File path of Correction data (Only required only for AT)
-  std::string correction_file_path;
+  bool launch_hw_;
 
-  /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_{};
+  std::optional<HesaiHwInterfaceWrapper> hw_interface_wrapper_;
+  std::optional<HesaiHwMonitorWrapper> hw_monitor_wrapper_;
+  std::optional<HesaiDecoderWrapper> decoder_wrapper_;
 
-  bool retry_hw_;
   std::mutex mtx_config_;
   OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
-
-  diagnostic_updater::Updater diagnostics_updater_;
-
-  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
-  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
-
-  std::unique_ptr<HesaiLidarStatus> current_status_{};
-  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
-  std::unique_ptr<HesaiConfig> current_config_{};
-  std::unique_ptr<HesaiInventory> current_inventory_{};
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
-
-  std::unique_ptr<rclcpp::Time> current_status_time_{};
-  std::unique_ptr<rclcpp::Time> current_config_time_{};
-  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
-
-  uint8_t current_diag_status_;
-  uint8_t current_monitor_status_;
-
-  uint16_t diag_span_;
-  std::mutex mtx_lidar_status_;
-  std::mutex mtx_lidar_monitor_;
-
-  std::string info_model_;
-  std::string info_serial_;
-
-  std::vector<std::string> temperature_names_;
-
-  bool setup_sensor;
-  const std::string MSG_NOT_SUPPORTED = "Not supported";
-  const std::string MSG_ERROR = "Error";
-  const std::string MSG_SEP = ": ";
 };
 
 }  // namespace ros
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
new file mode 100644
index 000000000..30f069c99
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiHwInterfaceWrapper
+{
+public:
+  HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
+                          std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::Status InitializeHwInterface();
+
+  nebula::Status Status();
+
+  std::shared_ptr<drivers::HesaiHwInterface> HwInterface() const;
+
+private:
+  std::shared_ptr<drivers::HesaiHwInterface> hw_interface_;
+  rclcpp::Logger logger_;
+  nebula::Status status_;
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
new file mode 100644
index 000000000..5ddfc9e79
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <boost/asio.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/property_tree/ptree.hpp>
+
+#include <array>
+#include <memory>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiHwMonitorWrapper
+{
+public:
+  HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
+                        const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                        std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::Status InitializeHwMonitor();
+
+  void InitializeHesaiDiagnostics();
+
+  std::string GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key);
+
+  std::string GetFixedPrecisionString(double val, int pre);
+
+  void OnHesaiStatusTimer();
+
+  void OnHesaiLidarMonitorTimerHttp();
+
+  void OnHesaiLidarMonitorTimer();
+
+  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  nebula::Status Status();
+
+private:
+  rclcpp::Logger logger_;
+  diagnostic_updater::Updater diagnostics_updater_;
+  nebula::Status status_;
+
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
+  rclcpp::Node* const parent_node_;
+
+  uint16_t diag_span_;
+  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
+  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
+
+  std::unique_ptr<HesaiLidarStatus> current_status_{};
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
+  std::unique_ptr<HesaiConfig> current_config_{};
+  std::unique_ptr<HesaiInventory> current_inventory_{};
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
+
+  std::unique_ptr<rclcpp::Time> current_status_time_{};
+  std::unique_ptr<rclcpp::Time> current_config_time_{};
+  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
+
+  uint8_t current_diag_status_;
+  uint8_t current_monitor_status_;
+
+  std::mutex mtx_lidar_status_;
+  std::mutex mtx_lidar_monitor_;
+
+  std::string info_model_;
+  std::string info_serial_;
+
+  std::vector<std::string> temperature_names_;
+
+  bool setup_sensor;
+  const std::string MSG_NOT_SUPPORTED = "Not supported";
+  const std::string MSG_ERROR = "Error";
+  const std::string MSG_SEP = ": ";
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index a259a80ba..d60b7b4db 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -3,6 +3,7 @@
 #include <condition_variable>
 #include <deque>
 #include <mutex>
+#include <chrono>
 
 template <typename T>
 class mt_queue
@@ -45,12 +46,4 @@ class mt_queue
 
     return return_value;
   }
-
-  void pop_all(std::deque<T> & dest) {
-    std::unique_lock<std::mutex> lock(this->mutex_);
-    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
-    dest.insert(dest.end(), std::make_move_iterator(queue_.begin()), std::make_move_iterator(queue_.end()));
-    this->queue_.clear();
-    this->cv_not_full_.notify_all();
-  }
 };
\ No newline at end of file
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 54df70ea9..e918afdc7 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -32,6 +32,7 @@
   <depend>visualization_msgs</depend>
   <depend>yaml-cpp</depend>
   <depend>nebula_msgs</depend>
+  <depend>pandar_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
new file mode 100644
index 000000000..1ae6d2837
--- /dev/null
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -0,0 +1,255 @@
+#include "nebula_ros/hesai/decoder_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
+                                         const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                                         std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : status_(nebula::Status::NOT_INITIALIZED)
+  , logger_(parent_node->get_logger().get_child("HesaiDecoder"))
+  , hw_interface_(hw_interface)
+  , sensor_cfg_(config)
+{
+  if (!config)
+  {
+    throw std::runtime_error("HesaiDecoderWrapper cannot be instantiated without a valid config!");
+  }
+
+  if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<std::string>("correction_file", "", descriptor);
+    calibration_file_path_ = parent_node->get_parameter("correction_file").as_string();
+  }
+  else
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<std::string>("calibration_file", "", descriptor);
+    calibration_file_path_ = parent_node->get_parameter("calibration_file").as_string();
+  }
+
+  auto calibration_result = GetCalibrationData();
+
+  if (!calibration_result.has_value())
+  {
+    throw std::runtime_error(
+        (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+  }
+
+  calibration_cfg_ptr_ = calibration_result.value();
+  RCLCPP_INFO_STREAM(logger_, "Using calibration data from " << calibration_cfg_ptr_->calibration_file);
+
+  RCLCPP_INFO(logger_, "Starting Decoder");
+
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(config, calibration_cfg_ptr_);
+  status_ = driver_ptr_->GetStatus();
+
+  if (Status::OK != status_)
+  {
+    throw std::runtime_error((std::stringstream() << "Error instantiating decoder: " << status_).str());
+  }
+
+  // Publish packets only if HW interface is connected
+  if (hw_interface_)
+  {
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+    packets_pub_ =
+        parent_node->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+  }
+
+  auto qos_profile = rmw_qos_profile_sensor_data;
+  auto pointcloud_qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+
+  nebula_points_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
+  aw_points_base_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+
+  RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
+}
+
+nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
+HesaiDecoderWrapper::GetCalibrationData()
+{
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calib;
+
+  if (sensor_cfg_->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
+  {
+    calib = std::make_shared<drivers::HesaiCorrection>();
+  }
+  else
+  {
+    calib = std::make_shared<drivers::HesaiCalibrationConfiguration>();
+  }
+
+  bool hw_connected = hw_interface_ != nullptr;
+  std::string calibration_file_path_from_sensor;
+
+  {
+    int ext_pos = calibration_file_path_.find_last_of('.');
+    calibration_file_path_from_sensor = calibration_file_path_.substr(0, ext_pos);
+    // TODO: if multiple different sensors of the same type are used, this will mix up their calibration data
+    calibration_file_path_from_sensor += "_from_sensor";
+    calibration_file_path_from_sensor +=
+        calibration_file_path_.substr(ext_pos, calibration_file_path_.size() - ext_pos);
+  }
+
+  // If a sensor is connected, try to download and save its calibration data
+  if (hw_connected)
+  {
+    try
+    {
+      auto raw_data = hw_interface_->GetLidarCalibrationBytes();
+      RCLCPP_INFO(logger_, "Downloaded calibration data from sensor.");
+      auto status = calib->SaveToFileFromBytes(calibration_file_path_from_sensor, raw_data);
+      if (status != Status::OK)
+      {
+        RCLCPP_ERROR_STREAM(logger_, "Could not save calibration data: " << status);
+      }
+      else
+      {
+        RCLCPP_INFO_STREAM(logger_, "Saved downloaded data to " << calibration_file_path_from_sensor);
+      }
+    }
+    catch (std::runtime_error& e)
+    {
+      RCLCPP_ERROR_STREAM(logger_, "Could not download calibration data: " << e.what());
+    }
+  }
+
+  // If saved calibration data from a sensor exists (either just downloaded above, or previously), try to load it
+  if (std::filesystem::exists(calibration_file_path_from_sensor))
+  {
+    auto status = calib->LoadFromFile(calibration_file_path_from_sensor);
+    if (status == Status::OK)
+    {
+      calib->calibration_file = calibration_file_path_from_sensor;
+      return calib;
+    }
+
+    RCLCPP_ERROR_STREAM(logger_, "Could not load downloaded calibration data: " << status);
+  }
+  else
+  {
+    RCLCPP_ERROR(logger_, "No downloaded calibration data found.");
+  }
+
+  RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+
+  // If downloaded data did not exist or could not be loaded, fall back to a generic file.
+  // If that file does not exist either, return an error code
+  if (!std::filesystem::exists(calibration_file_path_))
+  {
+    RCLCPP_ERROR(logger_, "No calibration data found.");
+    return nebula::Status(Status::INVALID_CALIBRATION_FILE);
+  }
+
+  // Try to load the existing fallback calibration file. Return an error if this fails
+  auto status = calib->LoadFromFile(calibration_file_path_);
+  if (status != Status::OK)
+  {
+    RCLCPP_ERROR(logger_, "Could not load fallback calibration file.");
+    return status;
+  }
+
+  // Return the fallback calibration file
+  calib->calibration_file = calibration_file_path_;
+  return calib;
+}
+
+void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+{
+  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
+  if (hw_interface_ &&
+      (packets_pub_->get_subscription_count() > 0 || packets_pub_->get_intra_process_subscription_count() > 0))
+  {
+    if (current_scan_msg_->packets.size() == 0)
+    {
+      current_scan_msg_->header.stamp = packet_msg->stamp;
+    }
+
+    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
+    pandar_packet_msg.stamp = packet_msg->stamp;
+    pandar_packet_msg.size = packet_msg->data.size();
+    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
+    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
+  }
+
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
+      driver_ptr_->ParseCloudPacket(packet_msg->data);
+  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+
+  if (pointcloud == nullptr)
+  {
+    // todo
+    // RCLCPP_WARN_STREAM(logger_, "Empty cloud parsed.");
+    return;
+  };
+
+  // Publish scan message only if it has been written to
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty())
+  {
+    packets_pub_->publish(std::move(current_scan_msg_));
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+  }
+
+  if (nebula_points_pub_->get_subscription_count() > 0 ||
+      nebula_points_pub_->get_intra_process_subscription_count() > 0)
+  {
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+  }
+  if (aw_points_base_pub_->get_subscription_count() > 0 ||
+      aw_points_base_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_cloud_xyzi = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+  }
+  if (aw_points_ex_pub_->get_subscription_count() > 0 || aw_points_ex_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_ex_cloud =
+        nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+  }
+}
+
+void HesaiDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                                       const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher)
+{
+  if (pointcloud->header.stamp.sec < 0)
+  {
+    RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
+  }
+  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  publisher->publish(std::move(pointcloud));
+}
+
+nebula::Status HesaiDecoderWrapper::Status()
+{
+  if (!driver_ptr_)
+  {
+    return nebula::Status::NOT_INITIALIZED;
+  }
+
+  return driver_ptr_->GetStatus();
+}
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 38b224fb3..e99e5c6d9 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -4,344 +4,70 @@ namespace nebula
 {
 namespace ros
 {
-HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
-  hw_interface_(),
-  wrapper_status_(Status::NOT_INITIALIZED),
-  interface_status_(Status::NOT_INITIALIZED),
-  packet_queue_(3000),
-  diagnostics_updater_(this)
+HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
+  : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true))
+  , wrapper_status_(Status::NOT_INITIALIZED)
+  , sensor_cfg_ptr_(nullptr)
+  , packet_queue_(3000)
+  , hw_interface_wrapper_()
+  , hw_monitor_wrapper_()
+  , decoder_wrapper_()
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>();
-  wrapper_status_ = GetParameters(*sensor_cfg_ptr_);
+  wrapper_status_ = DeclareAndGetSensorConfigParams();
+  wrapper_status_ = DeclareAndGetWrapperParams();
 
-  InitializeHwInterface();
-  InitializeDecoder();
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-
-  if (launch_hw_) {
-    InitializeHwMonitor();
-    StreamStart();
-    hw_interface_.RegisterScanCallback(
-      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  }
-
-  packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), 
-    std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
-
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
-}
-
-Status HesaiRosWrapper::InitializeHwInterface()
-{
-  interface_status_ = Status::OK;
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-  hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
-
-  if (!launch_hw_) {
-    return interface_status_;
-  }
-
-  int retry_count = 0;
-
-  while (true) {
-    interface_status_ = hw_interface_.InitializeTcpDriver();
-    if (interface_status_ == Status::OK || !retry_hw_) {
-      break;
-    }
-
-    retry_count++;
-    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
-  }
-
-  if (interface_status_ == Status::OK) {
-    try {
-      auto inventory = hw_interface_.GetInventory();
-      RCLCPP_INFO_STREAM(get_logger(), inventory);
-      hw_interface_.SetTargetModel(inventory.model);
-    } catch (...) {
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  } else {
-    RCLCPP_ERROR_STREAM(
-      get_logger(),
-      "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+  if (launch_hw_)
+  {
+    hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
+    hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->HwInterface(), sensor_cfg_ptr_);
   }
 
-  pandar_scan_pub_ =
-    create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-  current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-
-  return Status::OK;
-}
+  decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
+                           sensor_cfg_ptr_);
 
-Status HesaiRosWrapper::InitializeDecoder()
-{
-  calibration_cfg_ptr_ = std::make_shared<drivers::HesaiCalibrationConfiguration>();
-  correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>();
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+  set_param_res_ =
+      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 
-  wrapper_status_ = GetCalibrationData(*calibration_cfg_ptr_, *correction_cfg_ptr_);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return wrapper_status_;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto pointcloud_qos =
-    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+  RCLCPP_DEBUG(get_logger(), "Starting stream");
 
   decoder_thread_ = std::thread([this]() {
-    while (true) {
-        this->ProcessCloudPacket(std::move(packet_queue_.pop()));
+    while (true)
+    {
+      decoder_wrapper_->ProcessCloudPacket(std::move(packet_queue_.pop()));
     }
   });
 
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
-
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    sensor_cfg_ptr_, calibration_cfg_ptr_, correction_cfg_ptr_);
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosWrapper::InitializeHwMonitor()
-{
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return Status::ERROR_1;
-  }
-
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names_.emplace_back("Bottom circuit board T1");
-      temperature_names_.emplace_back("Bottom circuit board T2");
-      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names_.emplace_back("Laser emitting board RT_L2");
-      temperature_names_.emplace_back("Receiving board RT_R");
-      temperature_names_.emplace_back("Receiving board RT2");
-      temperature_names_.emplace_back("Top circuit RT3");
-      temperature_names_.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names_.emplace_back("Bottom circuit RT1");
-      temperature_names_.emplace_back("Bottom circuit RT2");
-      temperature_names_.emplace_back("Internal Temperature");
-      temperature_names_.emplace_back("Laser emitting board RT1");
-      temperature_names_.emplace_back("Laser emitting board RT2");
-      temperature_names_.emplace_back("Receiving board RT1");
-      temperature_names_.emplace_back("Top circuit RT1");
-      temperature_names_.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  auto result = hw_interface_.GetInventory();
-  current_inventory_.reset(new HesaiInventory(result));
-  current_inventory_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  std::cout << "HesaiInventory" << std::endl;
-  std::cout << result << std::endl;
-  info_model_ = result.get_str_model();
-  info_serial_ = std::string(std::begin(result.sn), std::end(result.sn));
-  hw_interface_.SetTargetModel(result.model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model_);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial_);
-  InitializeHesaiDiagnostics();
-  return Status::OK;
-}
-
-void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
-{
-  // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
-  // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
-  // static auto delay = nebula::util::TopicDelay("ReceiveCloudPacketCallback");
-  // Driver is not initialized yet
-  if (!driver_ptr_) {
-    return;
-  }
-
-  // convert.tick();
-  const auto now = std::chrono::system_clock::now();
-  const auto timestamp_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-
-  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
-  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
-  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
-  msg_ptr->data.swap(packet);
-  // convert.tock();
-
-  // delay.tick(msg_ptr->stamp);
-
-  // publish.tick();
-  if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
-  }
-  // packet_pub_->publish(std::move(msg_ptr));
-  // publish.tock();
-}
-
-void HesaiRosWrapper::ReceiveScanMessageCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
-{
-  if (launch_hw_) {
-    RCLCPP_ERROR_THROTTLE(
-      get_logger(), *get_clock(), 1000,
-      "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
-    return;
-  }
-
-  for (auto & pkt : scan_msg->packets) {
-    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
-    nebula_pkt_ptr->stamp = pkt.stamp;
-    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
-
-    packet_queue_.push(std::move(nebula_pkt_ptr));
-  }
-}
-
-void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
-{
-  // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
-  // static auto convert = nebula::util::Instrumentation("ProcessCloudPacket.convert");
-  // static auto publish = nebula::util::Instrumentation("ProcessCloudPacket.publish");
-  // static auto delay = nebula::util::TopicDelay("ProcessCloudPacket");
-
-  // delay.tick(packet_msg->stamp);
-
-  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
-  if (
-    launch_hw_ &&
-    (pandar_scan_pub_->get_subscription_count() > 0 ||
-    pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
-    if (current_scan_msg_->packets.size() == 0) {
-      current_scan_msg_->header.stamp = packet_msg->stamp;
-    }
-
-    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
-    pandar_packet_msg.stamp = packet_msg->stamp;
-    pandar_packet_msg.size = packet_msg->data.size();
-    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
-    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
-  }
-
-  // parse.tick();
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ParseCloudPacket(packet_msg->data);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-  // parse.tock();
-
-  if (pointcloud == nullptr) {
-    // todo
-    // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
-    return;
-  };
-
-  // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
-    pandar_scan_pub_->publish(std::move(current_scan_msg_));
-    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-  }
-
-  if (
-    nebula_points_pub_->get_subscription_count() > 0 ||
-    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-    // publish.tock();
-  }
-  if (
-    aw_points_base_pub_->get_subscription_count() > 0 ||
-    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-
-    const auto autoware_cloud_xyzi =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-    // publish.tock();
+  if (launch_hw_)
+  {
+    StreamStart();
+    hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
+        std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
   }
-  if (
-    aw_points_ex_pub_->get_subscription_count() > 0 ||
-    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-
-    const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
-      pointcloud, std::get<1>(pointcloud_ts));
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-    // publish.tock();
+  else
+  {
+    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
+        "pandar_packets", rclcpp::SensorDataQoS(),
+        std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+    RCLCPP_INFO_STREAM(get_logger(), "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
   }
 }
 
-void HesaiRosWrapper::PublishCloud(
-  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
+nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
 {
-  if (pointcloud->header.stamp.sec < 0) {
-    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
-  }
-  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
-  publisher->publish(std::move(pointcloud));
-}
+  nebula::drivers::HesaiSensorConfiguration sensor_configuration;
 
-Status HesaiRosWrapper::GetStatus()
-{
-  return wrapper_status_;
-}
-
-Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
-{
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
+    declare_parameter<std::string>("sensor_model", "");
     sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
+        nebula::drivers::SensorModelFromString(get_parameter("sensor_model").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -349,9 +75,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
+    declare_parameter<std::string>("return_mode", "", descriptor);
     sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+        get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -359,8 +85,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
+    declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
+    sensor_configuration.host_ip = get_parameter("host_ip").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -368,8 +94,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
+    declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
+    sensor_configuration.sensor_ip = get_parameter("sensor_ip").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -377,8 +103,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
+    declare_parameter<uint16_t>("data_port", 2368, descriptor);
+    sensor_configuration.data_port = get_parameter("data_port").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -386,8 +112,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
+    declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
+    sensor_configuration.gnss_port = get_parameter("gnss_port").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -395,8 +121,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
+    declare_parameter<std::string>("frame_id", "pandar", descriptor);
+    sensor_configuration.frame_id = get_parameter("frame_id").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -406,18 +132,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
     rcl_interfaces::msg::FloatingPointRange range;
     range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path = this->get_parameter("calibration_file").as_string();
+    descriptor.floating_point_range = { range };
+    declare_parameter<double>("scan_phase", 0., descriptor);
+    sensor_configuration.scan_phase = get_parameter("scan_phase").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -425,8 +142,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
+    declare_parameter<double>("min_range", 0.3, descriptor);
+    sensor_configuration.min_range = get_parameter("min_range").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -434,8 +151,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
+    declare_parameter<double>("max_range", 300., descriptor);
+    sensor_configuration.max_range = get_parameter("max_range").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -443,10 +160,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
+    declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
+    sensor_configuration.packet_mtu_size = get_parameter("packet_mtu_size").as_int();
   }
-
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
@@ -454,18 +170,21 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.dynamic_typing = false;
     rcl_interfaces::msg::IntegerRange range;
     RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
+    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
+    {
       descriptor.additional_constraints = "200, 300, 400, 500";
       // range.set__from_value(200).set__to_value(500).set__step(100);
       // descriptor.integer_range = {range}; //todo
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
+      declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+    }
+    else
+    {
       descriptor.additional_constraints = "300, 600, 1200";
       // range.set__from_value(300).set__to_value(1200).set__step(300);
       // descriptor.integer_range = {range}; //todo
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+      declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
     }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
+    sensor_configuration.rotation_speed = get_parameter("rotation_speed").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -475,9 +194,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
+    descriptor.integer_range = { range };
+    declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+    sensor_configuration.cloud_min_angle = get_parameter("cloud_min_angle").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -487,18 +206,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("correction_file", "", descriptor);
-    correction_file_path = this->get_parameter("correction_file").as_string();
+    descriptor.integer_range = { range };
+    declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+    sensor_configuration.cloud_max_angle = get_parameter("cloud_max_angle").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -508,37 +218,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
     rcl_interfaces::msg::FloatingPointRange range;
     range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw_ = this->get_parameter("launch_hw").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("setup_sensor", true, descriptor);
-    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("retry_hw", true, descriptor);
-    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
+    descriptor.floating_point_range = { range };
+    declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
+    sensor_configuration.dual_return_distance_threshold = get_parameter("dual_return_distance_threshold").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -546,9 +228,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile =
-      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
+    declare_parameter<std::string>("ptp_profile", "");
+    sensor_configuration.ptp_profile = nebula::drivers::PtpProfileFromString(get_parameter("ptp_profile").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -556,10 +237,11 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportTypeFromString(
-      this->get_parameter("ptp_transport_type").as_string());
-    if (static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+    declare_parameter<std::string>("ptp_transport_type", "");
+    sensor_configuration.ptp_transport_type =
+        nebula::drivers::PtpTransportTypeFromString(get_parameter("ptp_transport_type").as_string());
+    if (static_cast<int>(sensor_configuration.ptp_profile) > 0)
+    {
       sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
     }
   }
@@ -569,9 +251,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_switch_type", "");
+    declare_parameter<std::string>("ptp_switch_type", "");
     sensor_configuration.ptp_switch_type =
-      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
+        nebula::drivers::PtpSwitchTypeFromString(get_parameter("ptp_switch_type").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -580,320 +262,144 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.dynamic_typing = false;
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    this->diag_span_ = this->get_parameter("diag_span").as_int();
+    descriptor.integer_range = { range };
+    declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
+    sensor_configuration.ptp_domain = get_parameter("ptp_domain").as_int();
   }
 
-  ///////////////////////////////////////////////
-  // Validate ROS parameters
-  ///////////////////////////////////////////////
-
-  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (
-    sensor_configuration.ptp_transport_type ==
-    nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(),
-      "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
-      "using the '1588v2' PTP Profile");
+  if (sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
+                        "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
+  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN)
+  {
     return Status::INVALID_SENSOR_MODEL;
   }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
+  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN)
+  {
     return Status::INVALID_ECHO_MODE;
   }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
+  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360)
+  {
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  auto new_cfg_ptr_ = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(sensor_configuration);
+  sensor_cfg_ptr_.swap(new_cfg_ptr_);
   return Status::OK;
 }
 
-Status HesaiRosWrapper::GetCalibrationData(
-  drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration)
+void HesaiRosWrapper::ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
 {
-  calibration_configuration.calibration_file = calibration_file_path;  // todo
-
-  bool run_local = !launch_hw_;
-  if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
-    std::string calibration_file_path_from_sensor;
-    if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
-      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor +=
-        calibration_configuration.calibration_file.substr(0, ext_pos);
-      calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(
-        ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
-    }
-    if (launch_hw_) {
-      run_local = false;
-      RCLCPP_INFO_STREAM(
-        this->get_logger(),
-        "Trying to acquire calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-      std::future<void> future = std::async(
-        std::launch::async,
-        [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-          auto str = hw_interface_.GetLidarCalibrationString();
-          auto rt =
-            calibration_configuration.SaveFileFromString(calibration_file_path_from_sensor, str);
-          RCLCPP_ERROR_STREAM(get_logger(), str);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(),
-              "SaveFileFromString success:" << calibration_file_path_from_sensor << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "SaveFileFromString failed:" << calibration_file_path_from_sensor << "\n");
-          }
-          rt = calibration_configuration.LoadFromString(str);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(get_logger(), "LoadFromString success:" << str << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(get_logger(), "LoadFromString failed:" << str << "\n");
-          }
-        });
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(5000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "Acquired calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "The calibration has been saved in '" << calibration_file_path_from_sensor << "'");
-      }
-    }
-    if (run_local) {
-      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
-      bool run_org = false;
-      if (calibration_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        RCLCPP_INFO_STREAM(
-          get_logger(), "Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status = calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+  if (hw_interface_wrapper_)
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000,
+                          "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+    return;
+  }
 
-        if (cal_status != Status::OK) {
-          run_org = true;
-        } else {
-          RCLCPP_INFO_STREAM(
-            this->get_logger(),
-            "Load calibration data from: '" << calibration_file_path_from_sensor << "'");
-        }
-      }
-      if (run_org) {
-        RCLCPP_INFO_STREAM(
-          get_logger(), "Trying to load file: " << calibration_configuration.calibration_file);
-        if (calibration_configuration.calibration_file.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(),
-            "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status =
-            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
+  for (auto& pkt : scan_msg->packets)
+  {
+    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+    nebula_pkt_ptr->stamp = pkt.stamp;
+    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
 
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(),
-              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
-            return cal_status;
-          } else {
-            RCLCPP_INFO_STREAM(
-              this->get_logger(),
-              "Load calibration data from: '" << calibration_configuration.calibration_file << "'");
-          }
-        }
-      }
-    }
-  } else {  // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
-    std::string correction_file_path_from_sensor;
-    if (launch_hw_ && !correction_file_path.empty()) {
-      int ext_pos = correction_file_path.find_last_of('.');
-      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
-      correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor +=
-        correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
-    }
-    std::future<void> future = std::async(
-      std::launch::async,
-      [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
-        if (launch_hw_) {
-          RCLCPP_INFO_STREAM(this->get_logger(), "Trying to acquire calibration data from sensor");
-          auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-          RCLCPP_INFO_STREAM(
-            get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-          auto rt = correction_configuration.SaveFileFromBinary(
-            correction_file_path_from_sensor, received_bytes);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(),
-              "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "SaveFileFromBinary failed:" << correction_file_path_from_sensor
-                                           << ". Falling back to offline calibration file.");
-            run_local = true;
-          }
-          rt = correction_configuration.LoadFromBinary(received_bytes);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-            run_local = false;
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "LoadFromBinary failed" << ". Falling back to offline calibration file.");
-            run_local = true;
-          }
-        } else {
-          RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-          run_local = true;
-        }
-      });
-    if (!run_local) {
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(8000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "Acquired correction data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "The correction has been saved in '" << correction_file_path_from_sensor << "'");
-      }
-    }
-    if (run_local) {
-      bool run_org = false;
-      if (correction_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        auto cal_status = correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+    packet_queue_.push(std::move(nebula_pkt_ptr));
+  }
+}
 
-        if (cal_status != Status::OK) {
-          run_org = true;
-        } else {
-          RCLCPP_INFO_STREAM(
-            this->get_logger(),
-            "Load correction data from: '" << correction_file_path_from_sensor << "'");
-        }
-      }
-      if (run_org) {
-        if (correction_file_path.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
+Status HesaiRosWrapper::GetStatus()
+{
+  return wrapper_status_;
+}
 
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
-            return cal_status;
-          } else {
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '" << correction_file_path << "'");
-          }
-        }
-      }
-    }
-  }  // end AT128
+Status HesaiRosWrapper::DeclareAndGetWrapperParams()
+{
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    declare_parameter<bool>("launch_hw", "", descriptor);
+    launch_hw_ = get_parameter("launch_hw").as_bool();
+  }
 
   return Status::OK;
 }
 
 HesaiRosWrapper::~HesaiRosWrapper()
 {
-  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-  hw_interface_.FinalizeTcpDriver();
 }
 
 Status HesaiRosWrapper::StreamStart()
 {
-  if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.SensorInterfaceStart();
+  if (!hw_interface_wrapper_)
+  {
+    return Status::UDP_CONNECTION_ERROR;
   }
-  return interface_status_;
+
+  if (hw_interface_wrapper_->Status() != Status::OK)
+  {
+    return hw_interface_wrapper_->Status();
+  }
+
+  return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(const std::vector<rclcpp::Parameter>& p)
 {
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
+  RCLCPP_DEBUG_STREAM(get_logger(), p);
+  RCLCPP_DEBUG_STREAM(get_logger(), *sensor_cfg_ptr_);
+
+  drivers::HesaiSensorConfiguration new_cfg(*sensor_cfg_ptr_);
 
-  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param =
-    std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
   std::string sensor_model_str;
   std::string return_mode_str;
-  if (
-    get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
-    get_param(p, "host_ip", new_param->host_ip) | get_param(p, "sensor_ip", new_param->sensor_ip) |
-    get_param(p, "frame_id", new_param->frame_id) |
-    get_param(p, "data_port", new_param->data_port) |
-    get_param(p, "gnss_port", new_param->gnss_port) |
-    get_param(p, "scan_phase", new_param->scan_phase) |
-    get_param(p, "packet_mtu_size", new_param->packet_mtu_size) |
-    get_param(p, "rotation_speed", new_param->rotation_speed) |
-    get_param(p, "cloud_min_angle", new_param->cloud_min_angle) |
-    get_param(p, "cloud_max_angle", new_param->cloud_max_angle) |
-    get_param(p, "dual_return_distance_threshold", new_param->dual_return_distance_threshold)) {
+  if (get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
+      get_param(p, "host_ip", new_cfg.host_ip) | get_param(p, "sensor_ip", new_cfg.sensor_ip) |
+      get_param(p, "frame_id", new_cfg.frame_id) | get_param(p, "data_port", new_cfg.data_port) |
+      get_param(p, "gnss_port", new_cfg.gnss_port) | get_param(p, "scan_phase", new_cfg.scan_phase) |
+      get_param(p, "packet_mtu_size", new_cfg.packet_mtu_size) |
+      get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+      get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+      get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
+      get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold))
+  {
     if (0 < sensor_model_str.length())
-      new_param->sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
+      new_cfg.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
     if (0 < return_mode_str.length())
-      new_param->return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
+      new_cfg.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
 
-    sensor_cfg_ptr_.swap(new_param);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    hw_interface_.CheckAndSetConfig();
+    auto new_cfg_ptr = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(new_cfg);
+    sensor_cfg_ptr_.swap(new_cfg_ptr);
+    RCLCPP_INFO_STREAM(get_logger(), "Update sensor_configuration");
+    RCLCPP_DEBUG_STREAM(get_logger(), "hw_interface_.SetSensorConfiguration");
+    hw_interface_wrapper_->HwInterface()->SetSensorConfiguration(
+        std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    hw_interface_wrapper_->HwInterface()->CheckAndSetConfig();
   }
 
   auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
   result->successful = true;
   result->reason = "success";
 
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback success");
 
   return *result;
 }
@@ -901,310 +407,47 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
 std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
 {
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
+  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters start");
   std::ostringstream os_sensor_model;
   os_sensor_model << sensor_cfg_ptr_->sensor_model;
   std::ostringstream os_return_mode;
   os_return_mode << sensor_cfg_ptr_->return_mode;
-  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
+  RCLCPP_INFO_STREAM(get_logger(), "set_parameters");
   auto results = set_parameters(
-    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-     rclcpp::Parameter("return_mode", os_return_mode.str()),
-     rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
-     rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
-     rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
-     rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
-     rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
-     rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
-     rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
-     rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
-     rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
-     rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
-     rclcpp::Parameter(
-       "dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold)});
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
+      { rclcpp::Parameter("sensor_model", os_sensor_model.str()),
+        rclcpp::Parameter("return_mode", os_return_mode.str()), rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
+        rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
+        rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
+        rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
+        rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
+        rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
+        rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
+        rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
+        rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
+        rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
+        rclcpp::Parameter("dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold) });
+  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters end");
   return results;
 }
 
-void HesaiRosWrapper::InitializeHesaiDiagnostics()
-{
-  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
-  using std::chrono_literals::operator""s;
-  std::ostringstream os;
-  auto hardware_id = info_model_ + ": " + info_serial_;
-  diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
-
-  diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
-  diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
-  diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
-
-  current_status_.reset();
-  current_monitor_.reset();
-  current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-
-  auto fetch_diag_from_sensor = [this]() {
-    OnHesaiStatusTimer();
-    if (hw_interface_.UseHttpGetLidarMonitor()) {
-      OnHesaiLidarMonitorTimerHttp();
-    } else {
-      OnHesaiLidarMonitorTimer();
-    }
-  };
-
-  fetch_diagnostics_timer_ =
-    create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
-
-  if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
-  } else {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
-  }
-
-  auto on_timer_update = [this] {
-    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
-    auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time_).seconds();
-
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
-
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    dif = (now - *current_lidar_monitor_time_).seconds();
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    diagnostics_updater_.force_update();
-  };
-  diagnostics_update_timer_ =
-    create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
-
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
-}
-
-std::string HesaiRosWrapper::GetPtreeValue(
-  boost::property_tree::ptree * pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return MSG_NOT_SUPPORTED;
-  }
-}
-std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
-{
-  std::stringstream ss;
-  ss << std::fixed << std::setprecision(pre) << val;
-  return ss.str();
-}
-
-void HesaiRosWrapper::OnHesaiStatusTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
-  try {
-    auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_lidar_status_);
-    current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status_.reset(new HesaiLidarStatus(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
-}
-
-void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
-  try {
-    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor_);
-      current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree_ =
-        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-    });
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
-}
-
-void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
-  try {
-    auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor_);
-    current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor_.reset(new HesaiLidarMonitor(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
-}
-
-void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-
-    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime.value()));
-    diagnostics.add("startup_times", std::to_string(current_status_->startup_times.value()));
-    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time.value()));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    auto gps_status = current_status_->get_str_gps_pps_lock();
-    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
-    auto ptp_status = current_status_->get_str_ptp_clock_status();
-    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
-    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
-    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
-    diagnostics.add("gps_pps_lock", gps_status);
-    diagnostics.add("gps_gprmc_status", gprmc_status);
-    diagnostics.add("ptp_clock_status", ptp_status);
-    if (gps_status != "UNKNOWN") {
-      msg.emplace_back("gps_pps_lock: " + gps_status);
-    }
-    if (gprmc_status != "UNKNOWN") {
-      msg.emplace_back("gprmc_status: " + gprmc_status);
-    }
-    if (ptp_status != "UNKNOWN") {
-      msg.emplace_back("ptp_status: " + ptp_status);
-    }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckTemperature(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    for (size_t i = 0; i < std::size(current_status_->temperature); i++) {
-      diagnostics.add(
-        temperature_names_[i], GetFixedPrecisionString(current_status_->temperature[i].value() * 0.01));
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
 {
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed.value()));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  if (!decoder_wrapper_ || decoder_wrapper_->Status() != Status::OK)
+  {
+    return;
   }
-}
 
-void HesaiRosWrapper::HesaiCheckVoltageHttp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_lidar_monitor_tree_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    std::string key = "";
-
-    std::string mes;
-    key = "lidarInCur";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = MSG_ERROR + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-    key = "lidarInVol";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = MSG_ERROR + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
+  const auto now = std::chrono::system_clock::now();
+  const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
 
-void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_monitor_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage.value() * 0.01) + " V");
-    diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor_->input_current.value() * 0.01) + " mA");
-    diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor_->input_power.value() * 0.01) + " W");
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
+  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
+  msg_ptr->data.swap(packet);
 
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  if (!packet_queue_.try_push(std::move(msg_ptr)))
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
 }
 
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
new file mode 100644
index 000000000..e38f6b181
--- /dev/null
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -0,0 +1,94 @@
+#include "nebula_ros/hesai/hw_interface_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
+                                                 std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : hw_interface_(new nebula::drivers::HesaiHwInterface())
+  , logger_(parent_node->get_logger().get_child("HwInterface"))
+  , status_(Status::NOT_INITIALIZED)
+{
+  bool setup_sensor, retry_connect;
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<bool>("setup_sensor", true, descriptor);
+    setup_sensor = parent_node->get_parameter("setup_sensor").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<bool>("retry_hw", true, descriptor);
+    retry_connect = parent_node->get_parameter("retry_hw").as_bool();
+  }
+
+  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<drivers::SensorConfigurationBase>(config));
+
+  status_ = Status::OK;
+
+  hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
+  hw_interface_->SetTargetModel(config->sensor_model);
+
+  int retry_count = 0;
+
+  while (true)
+  {
+    status_ = hw_interface_->InitializeTcpDriver();
+    if (status_ == Status::OK || !retry_connect)
+    {
+      break;
+    }
+
+    retry_count++;
+    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+    RCLCPP_WARN_STREAM(logger_, "Retry: " << retry_count);
+  }
+
+  if (status_ == Status::OK)
+  {
+    try
+    {
+      auto inventory = hw_interface_->GetInventory();
+      RCLCPP_INFO_STREAM(logger_, inventory);
+      hw_interface_->SetTargetModel(inventory.model);
+    }
+    catch (...)
+    {
+      RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor...");
+    }
+    if (setup_sensor)
+    {
+      hw_interface_->CheckAndSetConfig();
+      // updateParameters(); TODO
+    }
+  }
+  else
+  {
+    RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor... Set from config: " << config->sensor_model);
+  }
+
+  status_ = Status::OK;
+}
+
+Status HesaiHwInterfaceWrapper::Status()
+{
+  return status_;
+}
+
+std::shared_ptr<drivers::HesaiHwInterface> HesaiHwInterfaceWrapper::HwInterface() const
+{
+  return hw_interface_;
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
new file mode 100644
index 000000000..579e32a4e
--- /dev/null
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -0,0 +1,412 @@
+#include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
+                                             const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                                             std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : logger_(parent_node->get_logger().get_child("HwMonitor"))
+  , diagnostics_updater_(parent_node)
+  , status_(Status::OK)
+  , hw_interface_(hw_interface)
+  , parent_node_(parent_node)
+{
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    parent_node->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
+    diag_span_ = parent_node->get_parameter("diag_span").as_int();
+  }
+
+  switch (config->sensor_model)
+  {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names_.emplace_back("Bottom circuit board T1");
+      temperature_names_.emplace_back("Bottom circuit board T2");
+      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names_.emplace_back("Laser emitting board RT_L2");
+      temperature_names_.emplace_back("Receiving board RT_R");
+      temperature_names_.emplace_back("Receiving board RT2");
+      temperature_names_.emplace_back("Top circuit RT3");
+      temperature_names_.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names_.emplace_back("Bottom circuit RT1");
+      temperature_names_.emplace_back("Bottom circuit RT2");
+      temperature_names_.emplace_back("Internal Temperature");
+      temperature_names_.emplace_back("Laser emitting board RT1");
+      temperature_names_.emplace_back("Laser emitting board RT2");
+      temperature_names_.emplace_back("Receiving board RT1");
+      temperature_names_.emplace_back("Top circuit RT1");
+      temperature_names_.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface->GetInventory();
+  current_inventory_.reset(new HesaiInventory(result));
+  current_inventory_time_.reset(new rclcpp::Time(parent_node->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model_ = result.get_str_model();
+  info_serial_ = std::string(std::begin(result.sn), std::end(result.sn));
+  RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
+  RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
+  InitializeHesaiDiagnostics();
+
+  if (Status::OK != status_)
+  {
+    throw std::runtime_error((std::stringstream() << "Error getting calibration data: " << status_).str());
+  }
+}
+
+void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
+{
+  RCLCPP_INFO_STREAM(logger_, "InitializeHesaiDiagnostics");
+  using std::chrono_literals::operator""s;
+  std::ostringstream os;
+  auto hardware_id = info_model_ + ": " + info_serial_;
+  diagnostics_updater_.setHardwareID(hardware_id);
+  RCLCPP_INFO_STREAM(logger_, "hardware_id: " + hardware_id);
+
+  diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorWrapper::HesaiCheckStatus);
+  diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorWrapper::HesaiCheckPtp);
+  diagnostics_updater_.add("hesai_temperature", this, &HesaiHwMonitorWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorWrapper::HesaiCheckRpm);
+
+  current_status_.reset();
+  current_monitor_.reset();
+  current_status_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+  current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+
+  auto fetch_diag_from_sensor = [this]() {
+    OnHesaiStatusTimer();
+    if (hw_interface_->UseHttpGetLidarMonitor())
+    {
+      OnHesaiLidarMonitorTimerHttp();
+    }
+    else
+    {
+      OnHesaiLidarMonitorTimer();
+    }
+  };
+
+  fetch_diagnostics_timer_ =
+      parent_node_->create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
+
+  if (hw_interface_->UseHttpGetLidarMonitor())
+  {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltageHttp);
+  }
+  else
+  {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltage);
+  }
+
+  auto on_timer_update = [this] {
+    RCLCPP_DEBUG_STREAM(logger_, "OnUpdateTimer");
+    auto now = parent_node_->get_clock()->now();
+    auto dif = (now - *current_status_time_).seconds();
+
+    RCLCPP_DEBUG_STREAM(logger_, "dif(status): " << dif);
+
+    if (diag_span_ * 2.0 < dif * 1000)
+    {
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(logger_, "STALE");
+    }
+    else
+    {
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(logger_, "OK");
+    }
+    dif = (now - *current_lidar_monitor_time_).seconds();
+    RCLCPP_DEBUG_STREAM(logger_, "dif(monitor): " << dif);
+    if (diag_span_ * 2.0 < dif * 1000)
+    {
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(logger_, "STALE");
+    }
+    else
+    {
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(logger_, "OK");
+    }
+    diagnostics_updater_.force_update();
+  };
+  diagnostics_update_timer_ =
+      parent_node_->create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
+
+  RCLCPP_DEBUG_STREAM(logger_, "add_timer");
+}
+
+std::string HesaiHwMonitorWrapper::GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key)
+{
+  boost::optional<std::string> value = pt->get_optional<std::string>(key);
+  if (value)
+  {
+    return value.get();
+  }
+  else
+  {
+    return MSG_NOT_SUPPORTED;
+  }
+}
+std::string HesaiHwMonitorWrapper::GetFixedPrecisionString(double val, int pre)
+{
+  std::stringstream ss;
+  ss << std::fixed << std::setprecision(pre) << val;
+  return ss.str();
+}
+
+void HesaiHwMonitorWrapper::OnHesaiStatusTimer()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer" << std::endl);
+  try
+  {
+    auto result = hw_interface_->GetLidarStatus();
+    std::scoped_lock lock(mtx_lidar_status_);
+    current_status_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+    current_status_.reset(new HesaiLidarStatus(result));
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer END" << std::endl);
+}
+
+void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp");
+  try
+  {
+    hw_interface_->GetLidarMonitorAsyncHttp([this](const std::string& str) {
+      std::scoped_lock lock(mtx_lidar_monitor_);
+      current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+      current_lidar_monitor_tree_ = std::make_unique<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+    });
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_"
+                                           "error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp END");
+}
+
+void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer");
+  try
+  {
+    auto result = hw_interface_->GetLidarMonitor();
+    std::scoped_lock lock(mtx_lidar_monitor_);
+    current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+    current_monitor_.reset(new HesaiLidarMonitor(result));
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(boost::system::system_"
+                                           "error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer END");
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+
+    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime.value()));
+    diagnostics.add("startup_times", std::to_string(current_status_->startup_times.value()));
+    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time.value()));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    auto gps_status = current_status_->get_str_gps_pps_lock();
+    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
+    auto ptp_status = current_status_->get_str_ptp_clock_status();
+    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
+    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
+    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
+    diagnostics.add("gps_pps_lock", gps_status);
+    diagnostics.add("gps_gprmc_status", gprmc_status);
+    diagnostics.add("ptp_clock_status", ptp_status);
+    if (gps_status != "UNKNOWN")
+    {
+      msg.emplace_back("gps_pps_lock: " + gps_status);
+    }
+    if (gprmc_status != "UNKNOWN")
+    {
+      msg.emplace_back("gprmc_status: " + gprmc_status);
+    }
+    if (ptp_status != "UNKNOWN")
+    {
+      msg.emplace_back("ptp_status: " + ptp_status);
+    }
+    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN")
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    for (size_t i = 0; i < std::size(current_status_->temperature); i++)
+    {
+      diagnostics.add(temperature_names_[i],
+                      GetFixedPrecisionString(current_status_->temperature[i].value() * 0.01, 3));
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed.value()));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_lidar_monitor_tree_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    std::string key = "";
+
+    std::string mes;
+    key = "lidarInCur";
+    try
+    {
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
+    }
+    catch (boost::bad_lexical_cast& ex)
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = MSG_ERROR + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+    key = "lidarInVol";
+    try
+    {
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
+    }
+    catch (boost::bad_lexical_cast& ex)
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = MSG_ERROR + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_monitor_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage.value() * 0.01, 3) + " V");
+    diagnostics.add("input_current", GetFixedPrecisionString(current_monitor_->input_current.value() * 0.01, 3) + " m"
+                                                                                                                  "A");
+    diagnostics.add("input_power", GetFixedPrecisionString(current_monitor_->input_power.value() * 0.01, 3) + " W");
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+Status HesaiHwMonitorWrapper::Status()
+{
+  return Status::NOT_IMPLEMENTED;  // TODO
+}
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file

From 19e8101da705fdd6d50b25fecfeb5c9be226c0ba Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:40:54 +0900
Subject: [PATCH 031/122] chore(velodyne_calibration_decoder): fix spelling

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 954da496b..0016e8208 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,4 +1,3 @@
-// cspell:ignore piyush, fout
 /**
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
@@ -7,6 +6,8 @@
  * License: Modified BSD License
  */
 
+// cspell:ignore piyush, piyushk, fout
+
 #include <nebula_common/velodyne/velodyne_calibration_decoder.hpp>
 
 #ifdef HAVE_NEW_YAMLCPP

From f0a85992a8b6c5745d83625450a89db5b8037073 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:43:32 +0900
Subject: [PATCH 032/122] chore(nebula_common): remove debug code

---
 .../nebula_common/util/instrumentation.hpp    | 86 -------------------
 .../util/performance_counter.hpp              | 43 ----------
 .../nebula_common/util/topic_delay.hpp        | 68 ---------------
 3 files changed, 197 deletions(-)
 delete mode 100644 nebula_common/include/nebula_common/util/instrumentation.hpp
 delete mode 100644 nebula_common/include/nebula_common/util/performance_counter.hpp
 delete mode 100644 nebula_common/include/nebula_common/util/topic_delay.hpp

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
deleted file mode 100644
index ccce705d8..000000000
--- a/nebula_common/include/nebula_common/util/instrumentation.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include "nebula_common/util/performance_counter.hpp"
-
-#include <chrono>
-#include <cstdint>
-#include <iostream>
-
-namespace nebula
-{
-namespace util
-{
-
-using namespace std::chrono_literals;
-
-class Instrumentation
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  Instrumentation(std::string tag)
-  : tag_(std::move(tag)), last_print_(clock::now()), delays_(), rtts_()
-  {
-  }
-
-  void tick()
-  {
-    auto now = clock::now();
-
-    if (last_tick_ != time_point::min()) {
-      auto rtt = now - last_tick_;
-      rtts_.update(rtt);
-    }
-
-    last_tick_ = now;
-  }
-
-  void tock()
-  {
-    auto now = clock::now();
-    auto delay = now - last_tick_;
-    delays_.update(delay);
-
-    if (now - last_print_ >= PRINT_INTERVAL) {
-      auto del = delays_.reset();
-      auto rtt = rtts_.reset();
-
-      last_print_ = now;
-
-      std::stringstream ss;
-
-      ss << "{\"type\": \"instrumentation\", \"tag\": \"" << tag_
-         << "\", \"del\": [";
-      
-      for (duration & dt : *del) {
-        ss << dt.count() << ',';
-      }
-
-      ss <<"null], \"rtt\": [";
-
-      for (duration & dt : *rtt) {
-        ss << dt.count() << ',';
-      }
-         
-      ss <<  "null]}" << std::endl;
-
-      std::cout << ss.str();
-    }
-  }
-
-private:
-  std::string tag_;
-
-  time_point last_tick_{time_point::min()};
-  time_point last_print_{time_point::min()};
-
-  Counter delays_;
-  Counter rtts_;
-
-  const duration PRINT_INTERVAL = 1s;
-};
-
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/performance_counter.hpp b/nebula_common/include/nebula_common/util/performance_counter.hpp
deleted file mode 100644
index cd6b618f1..000000000
--- a/nebula_common/include/nebula_common/util/performance_counter.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <chrono>
-#include <cstdint>
-#include <vector>
-
-namespace nebula
-{
-namespace util
-{
-
-class Counter
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  Counter()
-  : buf_record_(), buf_output_()
-  {
-    buf_record_.resize(100000);
-    buf_output_.resize(100000);
-  }
-
-  std::vector<duration> * reset()
-  {
-    buf_record_.swap(buf_output_);
-    buf_record_.clear();
-    return &buf_output_;
-  }
-
-  void update(duration measurement)
-  {
-    buf_record_.push_back(measurement);
-  }
-
-private:
-  std::vector<duration> buf_record_;
-  std::vector<duration> buf_output_;
-};
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/topic_delay.hpp b/nebula_common/include/nebula_common/util/topic_delay.hpp
deleted file mode 100644
index a92ce29a2..000000000
--- a/nebula_common/include/nebula_common/util/topic_delay.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#pragma once
-
-#include <builtin_interfaces/msg/time.hpp>
-
-#include "nebula_common/util/performance_counter.hpp"
-
-
-#include <chrono>
-#include <cstdint>
-#include <iostream>
-
-namespace nebula
-{
-namespace util
-{
-
-using namespace std::chrono_literals;
-
-class TopicDelay
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  TopicDelay(std::string tag) : tag_(std::move(tag)), last_print_(clock::now()), delays_() {}
-
-  void tick(builtin_interfaces::msg::Time & stamp)
-  {
-    auto now = clock::now();
-
-    time_point t_msg = time_point(duration(static_cast<uint64_t>(stamp.sec) * 1'000'000'000ULL + stamp.nanosec));
-    auto delay = now - t_msg;
-
-    delays_.update(delay);
-
-    if (now - last_print_ >= PRINT_INTERVAL) {
-      auto del = delays_.reset();
-
-      last_print_ = now;
-
-      std::stringstream ss;
-
-      ss << "{\"type\": \"topic_delay\", \"tag\": \"" << tag_
-         << "\", \"del\": [";
-      
-      for (duration & dt : *del) {
-        ss << dt.count() << ',';
-      }
-
-      ss <<  "null]}" << std::endl;
-
-      std::cout << ss.str();
-    }
-  }
-
-private:
-  std::string tag_;
-
-  time_point last_print_{time_point::min()};
-
-  Counter delays_;
-
-  const duration PRINT_INTERVAL = 1s;
-};
-
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file

From 4f022cda35da7b27d38394b0a18c271e6164ab09 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:40:54 +0900
Subject: [PATCH 033/122] chore(velodyne_calibration_decoder): fix spelling

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 954da496b..8e3766b7b 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,5 +1,5 @@
-// cspell:ignore piyush, fout
 /**
+ * cspell:ignore piyush, piyushk, fout
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
  *                     The University of Texas at Austin

From bd08a1abe465a52c0aa4beb8b53242ef05bb735f Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:11 +0900
Subject: [PATCH 034/122] fix(hesai_decoder):  initialize last_phase to prevent
 empty pointcloud published on startup

---
 .../nebula_decoders_hesai/decoders/hesai_decoder.hpp      | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index 8f28856e8..daf9406cc 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -174,6 +174,10 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @return Whether the scan has completed
   bool checkScanCompleted(uint32_t current_phase, uint32_t sync_phase)
   {
+    if (last_phase_ == -1) {
+      return false;
+    }
+    
     return angle_corrector_.hasScanned(current_phase, last_phase_, sync_phase);
   }
 
@@ -220,6 +224,8 @@ class HesaiDecoder : public HesaiScanDecoder
 
     decode_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
+
+    last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   }
 
   int unpack(const std::vector<uint8_t> & packet) override
@@ -247,7 +253,7 @@ class HesaiDecoder : public HesaiScanDecoder
         sensor_configuration_->scan_phase * SensorT::packet_t::DEGREE_SUBDIVISIONS);
 
       if (scan_completed) {
-        std::swap(decode_pc_, output_pc_);
+          std::swap(decode_pc_, output_pc_);
         decode_pc_->clear();
         has_scanned_ = true;
         output_scan_timestamp_ns_ = decode_scan_timestamp_ns_;

From 68227d10bf708eccf7a0851298ba7ffe1a126950 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:36 +0900
Subject: [PATCH 035/122] fix(nebula_tests): make Hesai tests compile again

---
 nebula_tests/hesai/hesai_ros_decoder_test.cpp | 42 ++++++++-----------
 nebula_tests/hesai/hesai_ros_decoder_test.hpp | 30 +++++++------
 .../hesai/hesai_ros_decoder_test_main.cpp     |  2 +
 3 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
index a07a4dabd..00f33fa1a 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -46,12 +46,11 @@ HesaiRosDecoderTest::HesaiRosDecoderTest(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -59,26 +58,12 @@ HesaiRosDecoderTest::HesaiRosDecoderTest(
 
 Status HesaiRosDecoderTest::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosDecoderTest::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -291,7 +276,6 @@ void HesaiRosDecoderTest::ReadBag(
   storage_options.storage_id = params_.storage_id;
   converter_options.output_serialization_format = params_.format;  //"cdr";
   rclcpp::Serialization<pandar_msgs::msg::PandarScan> serialization;
-  nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
 
   rosbag2_cpp::Reader bag_reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
   bag_reader.open(storage_options, converter_options);
@@ -310,12 +294,20 @@ void HesaiRosDecoderTest::ReadBag(
         "Found data in topic " << bag_message->topic_name << ": " << bag_message->time_stamp);
 
       auto extracted_msg_ptr = std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg);
-      auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr);
-      auto scan_timestamp = std::get<1>(pointcloud_ts);
-      pointcloud = std::get<0>(pointcloud_ts);
 
-      scan_callback(bag_message->time_stamp, scan_timestamp, pointcloud);
-      pointcloud.reset(new nebula::drivers::NebulaPointCloud);
+      for (auto & pkt : extracted_msg_ptr->packets) {
+        auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+        auto pointcloud = std::get<0>(pointcloud_ts);
+        auto scan_timestamp = std::get<1>(pointcloud_ts);
+
+        if (!pointcloud) {
+          continue;
+        }
+
+        std::cerr << "PC size: " << pointcloud->size() << std::endl;
+
+        scan_callback(bag_message->time_stamp, scan_timestamp, pointcloud);
+      }
     }
   }
 }
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.hpp b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
index a0477a366..43996b9ac 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.hpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
@@ -48,9 +48,25 @@ struct HesaiRosDecoderTestParams
   double dual_return_distance_threshold = 0.1;
 };
 
+inline std::ostream & operator<<(std::ostream & os, nebula::ros::HesaiRosDecoderTestParams const & arg) {
+  return os << "sensor_model=" << arg.sensor_model << ", "
+  << "return_mode=" << arg.return_mode << ", "
+  << "calibration_file=" << arg.calibration_file << ", "
+  << "bag_path=" << arg.bag_path << ", "
+  << "correction_file=" << arg.correction_file << ", "
+  << "frame_id=" << arg.frame_id << ", "
+  << "scan_phase=" << arg.scan_phase << ", "
+  << "min_range=" << arg.min_range << ", "
+  << "max_range=" << arg.max_range << ", "
+  << "storage_id=" << arg.storage_id << ", "
+  << "format=" << arg.format << ", "
+  << "target_topic=" << arg.target_topic << ", "
+  << "dual_return_distance_threshold=" << arg.dual_return_distance_threshold << ", ";
+}
+
 /// @brief Testing decoder of pandar 40p (Keeps HesaiDriverRosWrapper structure as much as
 /// possible)
-class HesaiRosDecoderTest final : public rclcpp::Node, NebulaDriverRosWrapperBase  //, testing::Test
+class HesaiRosDecoderTest final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -65,17 +81,7 @@ class HesaiRosDecoderTest final : public rclcpp::Node, NebulaDriverRosWrapperBas
   /// @return Resulting status
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   /// @brief Get configurations (Magic numbers for Pandar40P is described, each function can be
   /// integrated if the ros parameter can be passed to Google Test)
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index 96ff00c3c..d6574ccd4 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -142,6 +142,8 @@ TEST_P(DecoderTest, TestTimezone)
   auto gmt = timezone;
   hesai_driver_->ReadBag(scan_callback);
 
+  ASSERT_GT(decoded_timestamps.size(), 0U);
+
   // Then, reset driver and timestamps vector for the next decode run
   TearDown();
   SetUp();

From e3c297ac22fd15326556f1891e13043c057b4547 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:52 +0900
Subject: [PATCH 036/122] fix(nebula_examples): make Hesai examples compile
 again

---
 .../hesai_ros_offline_extract_bag_pcd.hpp     |  9 +-
 .../hesai/hesai_ros_offline_extract_pcd.hpp   | 14 +--
 .../hesai_ros_offline_extract_bag_pcd.cpp     | 91 +++++++++----------
 .../hesai/hesai_ros_offline_extract_pcd.cpp   | 41 ++++-----
 4 files changed, 61 insertions(+), 94 deletions(-)

diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
index a7681323c..5136cbb12 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -35,7 +35,7 @@ namespace nebula
 {
 namespace ros
 {
-class HesaiRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrapperBase
+class HesaiRosOfflineExtractBag final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -46,12 +46,7 @@ class HesaiRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrap
 
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   Status GetParameters(
     drivers::HesaiSensorConfiguration & sensor_configuration,
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
index 711502e6a..8e26515bf 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
@@ -36,7 +36,7 @@ namespace nebula
 namespace ros
 {
 /// @brief Offline hesai driver usage example (Output PCD data)
-class HesaiRosOfflineExtractSample final : public rclcpp::Node, NebulaDriverRosWrapperBase
+class HesaiRosOfflineExtractSample final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -51,17 +51,7 @@ class HesaiRosOfflineExtractSample final : public rclcpp::Node, NebulaDriverRosW
   /// @return Resulting status
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index 9c1266347..02cc84c72 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -56,12 +56,11 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -69,26 +68,12 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
 
 Status HesaiRosOfflineExtractBag::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosOfflineExtractBag::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -328,39 +313,45 @@ Status HesaiRosOfflineExtractBag::ReadBag()
         std::cout << "Found data in topic " << bag_message->topic_name << ": "
                   << bag_message->time_stamp << std::endl;
 
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(
-          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud = std::get<0>(pointcloud_ts);
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-        //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+          auto pointcloud = std::get<0>(pointcloud_ts);
 
-        if (needs_open) {
-          const rosbag2_storage::StorageOptions storage_options_w(
-            {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
-          const rosbag2_cpp::ConverterOptions converter_options_w(
-            {rmw_get_serialization_format(), rmw_get_serialization_format()});
-          writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
-          writer_->open(storage_options_w, converter_options_w);
-          writer_->create_topic(
-            {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
-              ""});
-          needs_open = false;
-        }
-        writer_->write(bag_message);
-        cnt++;
-        if (skip_num < cnt) {
-          out_cnt++;
-          if (only_xyz) {
-            pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
-            pcl::copyPointCloud(*pointcloud, cloud_xyz);
-            writer.writeBinary((o_dir / fn).string(), cloud_xyz);
-          } else {
-            writer.writeBinary((o_dir / fn).string(), *pointcloud);
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+          //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+
+          if (needs_open) {
+            const rosbag2_storage::StorageOptions storage_options_w(
+              {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
+            const rosbag2_cpp::ConverterOptions converter_options_w(
+              {rmw_get_serialization_format(), rmw_get_serialization_format()});
+            writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
+            writer_->open(storage_options_w, converter_options_w);
+            writer_->create_topic(
+              {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
+                ""});
+            needs_open = false;
+          }
+          writer_->write(bag_message);
+          cnt++;
+          if (skip_num < cnt) {
+            out_cnt++;
+            if (only_xyz) {
+              pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
+              pcl::copyPointCloud(*pointcloud, cloud_xyz);
+              writer.writeBinary((o_dir / fn).string(), cloud_xyz);
+            } else {
+              writer.writeBinary((o_dir / fn).string(), *pointcloud);
+            }
+            //          writer.writeASCII((o_dir / fn).string(), *pointcloud);
+          }
+          if (out_num <= out_cnt) {
+            break;
           }
-          //          writer.writeASCII((o_dir / fn).string(), *pointcloud);
-        }
-        if (out_num <= out_cnt) {
-          break;
         }
       }
     }
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
index a57d9b96e..bd992ee19 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
@@ -56,12 +56,11 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -69,26 +68,12 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
 
 Status HesaiRosOfflineExtractSample::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosOfflineExtractSample::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -296,12 +281,18 @@ Status HesaiRosOfflineExtractSample::ReadBag()
         //        nebula::drivers::NebulaPointCloudPtr pointcloud =
         //        driver_ptr_->ConvertScanToPointcloud(
         //          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(
-          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud = std::get<0>(pointcloud_ts);
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-        //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
-        writer.writeBinary((o_dir / fn).string(), *pointcloud);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+          //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+          writer.writeBinary((o_dir / fn).string(), *pointcloud);
+        }
       }
     }
     // close on scope exit

From d9e6fa3ffa0e6deccd75c5b8c9ae7c48fbc28467 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:29:03 +0900
Subject: [PATCH 037/122] chore(velodyne_calibration_decoder): fix spelling
 once and for all

---
 .cspell.json                                               | 7 +++++--
 .../src/velodyne/velodyne_calibration_decoder.cpp          | 3 ---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.cspell.json b/.cspell.json
index 7b1d6b2be..228d7f45e 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -45,6 +45,9 @@
     "Vccint",
     "Vdat",
     "XT",
-    "XTM"
+    "XTM",
+    "piyushk",
+    "Piyush",
+    "fout"
   ]
-}
+}
\ No newline at end of file
diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index bfea254b7..0c03c3c9e 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,5 +1,4 @@
 /**
- * cspell:ignore piyush, piyushk, fout
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
  *                     The University of Texas at Austin
@@ -7,8 +6,6 @@
  * License: Modified BSD License
  */
 
-// cspell:ignore piyush, piyushk, fout
-
 #include <nebula_common/velodyne/velodyne_calibration_decoder.hpp>
 
 #ifdef HAVE_NEW_YAMLCPP

From 187ad04aebcc997ff0116843c1254e63eef029bb Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:30:25 +0900
Subject: [PATCH 038/122] chore(velodyne_calibration_decoder): fix spelling
 once and for all

---
 .cspell.json                                                | 5 ++++-
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 1 -
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/.cspell.json b/.cspell.json
index 4f17f7ddd..75b26f454 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -44,6 +44,9 @@
     "srvs",
     "manc",
     "ipaddr",
-    "ntoa"
+    "ntoa",
+    "piyushk",
+    "Piyush",
+    "fout"
   ]
 }
diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 8e3766b7b..0c03c3c9e 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,5 +1,4 @@
 /**
- * cspell:ignore piyush, piyushk, fout
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
  *                     The University of Texas at Austin

From 1bfba051faa44fbd6c155a949a8c215dc198c861 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 20:21:56 +0900
Subject: [PATCH 039/122] fix(nebula_examples): fix test failure (remove
 ament_lint_common)

---
 nebula_examples/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_examples/package.xml b/nebula_examples/package.xml
index 6f1163279..f63847cca 100644
--- a/nebula_examples/package.xml
+++ b/nebula_examples/package.xml
@@ -28,8 +28,8 @@
   <depend>velodyne_msgs</depend>
   <depend>yaml-cpp</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

From 4d3bf5b7f44f5dd3e9691b87e892ad027ae49450 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 22 Apr 2024 11:30:28 +0900
Subject: [PATCH 040/122] fix(hesai_hw_interface): add missing check for PTC
 error, make error type more readable

---
 .../hesai_hw_interface.hpp                    | 24 +++--
 .../hesai_hw_interface.cpp                    | 93 ++++++++++---------
 2 files changed, 64 insertions(+), 53 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index c60107ab2..1b21ddae2 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -93,21 +93,28 @@ const uint16_t PANDAR128_E4X_EXTENDED_PACKET_SIZE = 1117;
 const uint16_t MTU_SIZE = 1500;
 
 // Time interval between Announce messages, in units of log seconds (default: 1)
-const int PTP_LOG_ANNOUNCE_INTERVAL = 1; 
+const int PTP_LOG_ANNOUNCE_INTERVAL = 1;
 // Time interval between Sync messages, in units of log seconds (default: 1)
-const int PTP_SYNC_INTERVAL = 1;  
+const int PTP_SYNC_INTERVAL = 1;
 // Minimum permitted mean time between Delay_Req messages, in units of log seconds (default: 0)
 const int PTP_LOG_MIN_DELAY_INTERVAL = 0;
 
 const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
-
 /// @brief Hardware interface of hesai driver
 class HesaiHwInterface : NebulaHwInterfaceBase
 {
 private:
-  typedef nebula::util::expected<std::vector<uint8_t>, uint32_t> ptc_cmd_result_t;
+  struct ptc_error_t
+  {
+    uint8_t error_flags = 0;
+    uint8_t ptc_error_code = 0;
+
+    bool ok() { return !error_flags && !ptc_error_code; }
+  };
+
+  typedef nebula::util::expected<std::vector<uint8_t>, ptc_error_t> ptc_cmd_result_t;
 
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
@@ -160,18 +167,17 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   void PrintDebug(const std::vector<uint8_t> & bytes);
 
   /// @brief Convert an error code to a human-readable string
-  /// @param error_code The error code (lowest byte is Hesai PTC error code, higher bytes nebula flags)
-  /// such as TCP_ERROR_UNRELATED_RESPONSE etc.
+  /// @param error_code The error code, containing the sensor's error code (if any), along with
+  /// flags such as TCP_ERROR_UNRELATED_RESPONSE etc.
   /// @return A string description of all errors in this code
-  std::string PrettyPrintPTCError(uint32_t error_code);
+  std::string PrettyPrintPTCError(ptc_error_t error_code);
 
   /// @brief Send a PTC request with an optional payload, and return the full response payload.
   /// Blocking.
   /// @param command_id PTC command number.
   /// @param payload Payload bytes of the PTC command. Not including the 8-byte PTC header.
   /// @return The returned payload, if successful, or nullptr.
-  ptc_cmd_result_t SendReceive(
-    const uint8_t command_id, const std::vector<uint8_t> & payload = {});
+  ptc_cmd_result_t SendReceive(const uint8_t command_id, const std::vector<uint8_t> & payload = {});
 
 public:
   /// @brief Constructor
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 3d068173f..fccb2a622 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -69,7 +69,7 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   auto response_complete = std::make_shared<bool>(false);
 
   // Low byte is for PTC error code, the rest is nebula-specific
-  auto error_code = std::make_shared<uint32_t>(0);
+  auto error_code = std::make_shared<ptc_error_t>();
 
   std::stringstream ss;
   ss << "0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(command_id) << " (" << len << ") ";
@@ -89,14 +89,15 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   tcp_driver_->asyncSendReceiveHeaderPayload(
     send_buf,
     [this, log_tag, command_id, response_complete, error_code](const std::vector<uint8_t> & header_bytes) {
+      error_code->ptc_error_code = header_bytes[3];
+
       size_t payload_len = (header_bytes[4] << 24) | (header_bytes[5] << 16) | (header_bytes[6] << 8) | header_bytes[7];
       PrintDebug(log_tag + "Received header (expecting " + std::to_string(payload_len) + "B payload)");
       // If command_id in the response does not match, we got a response for another command (or rubbish), probably as a
       // result of too many simultaneous TCP connections to the sensor (e.g. from GUI, Web UI, another nebula instance, etc.)
       if (header_bytes[2] != command_id) {
-        *error_code = (TCP_ERROR_UNRELATED_RESPONSE << 8);
+        error_code->error_flags |= TCP_ERROR_UNRELATED_RESPONSE;
       }
-      *error_code |= header_bytes[3];
       if (payload_len == 0) { 
         *response_complete = true; 
       }
@@ -107,7 +108,7 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
       // Header had payload length 0 (thus, header callback processed request successfully already),
       // but we still received a payload: invalid state
       if (*response_complete == true) {
-        *error_code |= (TCP_ERROR_UNEXPECTED_PAYLOAD << 8);
+        error_code->error_flags |= TCP_ERROR_UNEXPECTED_PAYLOAD;
         return;
       }
 
@@ -123,13 +124,17 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   this->IOContextRun();
   if (!tm.try_lock_for(std::chrono::seconds(1))) {
     PrintError(log_tag + "Request did not finish within 1s");
-    *error_code |= (TCP_ERROR_TIMEOUT << 8);
+    error_code->error_flags |= TCP_ERROR_TIMEOUT;
     return *error_code;
   }
 
   if (!response_complete) {
     PrintError(log_tag + "Did not receive response");
-    *error_code |= (TCP_ERROR_INCOMPLETE_RESPONSE << 8);
+    error_code->error_flags |= TCP_ERROR_INCOMPLETE_RESPONSE;
+    return *error_code;
+  }
+
+  if (!error_code->ok()) {
     return *error_code;
   }
 
@@ -361,13 +366,13 @@ boost::property_tree::ptree HesaiHwInterface::ParseJson(const std::string & str)
 std::vector<uint8_t> HesaiHwInterface::GetLidarCalibrationBytes()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
-  return response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  return response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 }
 
 std::string HesaiHwInterface::GetLidarCalibrationString()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
-  auto calib_data = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto calib_data = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   std::string calib_string(calib_data.begin(), calib_data.end());
   return calib_string;
 }
@@ -375,7 +380,7 @@ std::string HesaiHwInterface::GetLidarCalibrationString()
 HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiPtpDiagStatus)) {
     throw std::runtime_error("Unexpected payload size");
@@ -394,7 +399,7 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiPtpDiagPort)) {
     throw std::runtime_error("Unexpected payload size");
@@ -412,7 +417,7 @@ HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiPtpDiagTime)) {
     throw std::runtime_error("Unexpected payload size");
@@ -431,7 +436,7 @@ HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiPtpDiagGrandmaster)) {
     throw std::runtime_error("Unexpected payload size");
@@ -450,7 +455,7 @@ HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 HesaiInventory HesaiHwInterface::GetInventory()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_INVENTORY_INFO);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiInventory)) {
     throw std::runtime_error("Unexpected payload size");
@@ -467,7 +472,7 @@ HesaiInventory HesaiHwInterface::GetInventory()
 HesaiConfig HesaiHwInterface::GetConfig()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiConfig)) {
     throw std::runtime_error("Unexpected payload size");
@@ -483,7 +488,7 @@ HesaiConfig HesaiHwInterface::GetConfig()
 HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiLidarStatus)) {
     throw std::runtime_error("Unexpected payload size");
@@ -502,7 +507,7 @@ Status HesaiHwInterface::SetSpinRate(uint16_t rpm)
   request_payload.emplace_back(rpm & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_SPIN_RATE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -514,7 +519,7 @@ Status HesaiHwInterface::SetSyncAngle(int sync_angle, int angle)
   request_payload.emplace_back(angle & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_SYNC_ANGLE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -524,7 +529,7 @@ Status HesaiHwInterface::SetTriggerMethod(int trigger_method)
   request_payload.emplace_back(trigger_method & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_TRIGGER_METHOD, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -534,7 +539,7 @@ Status HesaiHwInterface::SetStandbyMode(int standby_mode)
   request_payload.emplace_back(standby_mode & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_STANDBY_MODE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -544,7 +549,7 @@ Status HesaiHwInterface::SetReturnMode(int return_mode)
   request_payload.emplace_back(return_mode & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_RETURN_MODE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -562,7 +567,7 @@ Status HesaiHwInterface::SetDestinationIp(
   request_payload.emplace_back(gps_port & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_DESTINATION_IP, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -588,7 +593,7 @@ Status HesaiHwInterface::SetControlPort(
   request_payload.emplace_back(vlan_id & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_CONTROL_PORT, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -602,7 +607,7 @@ Status HesaiHwInterface::SetLidarRange(int method, std::vector<unsigned char> da
   request_payload.insert(request_payload.end(), data.begin(), data.end());
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -620,14 +625,14 @@ Status HesaiHwInterface::SetLidarRange(int start, int end)
   request_payload.emplace_back(end & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_LIDAR_RANGE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
 HesaiLidarRangeAll HesaiHwInterface::GetLidarRange()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_RANGE);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < 1) {
     throw std::runtime_error("Response payload too short");
@@ -661,7 +666,7 @@ Status HesaiHwInterface::SetClockSource(int clock_source)
   request_payload.emplace_back(clock_source & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_CLOCK_SOURCE, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -695,14 +700,14 @@ Status HesaiHwInterface::SetPtpConfig(
   }
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_PTP_CONFIG, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
 HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_PTP_CONFIG);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiPtpConfig)) {
     throw std::runtime_error("Unexpected payload size");
@@ -726,7 +731,7 @@ HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
 Status HesaiHwInterface::SendReset()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_RESET);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
@@ -736,14 +741,14 @@ Status HesaiHwInterface::SetRotDir(int mode)
   request_payload.emplace_back(mode & 0xff);
 
   auto response_or_err = SendReceive(PTC_COMMAND_SET_ROTATE_DIRECTION, request_payload);
-  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   return Status::OK;
 }
 
 HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
-  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or(0)));
+  auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() != sizeof(HesaiLidarMonitor)) {
     throw std::runtime_error("Unexpected payload size");
@@ -1353,20 +1358,20 @@ void HesaiHwInterface::PrintDebug(const std::vector<uint8_t> & bytes)
   PrintDebug(ss.str());
 }
 
-std::string HesaiHwInterface::PrettyPrintPTCError(uint32_t error_code) {
-  if (error_code == 0) {
+std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
+  if (error_code.ok()) {
     return "No error";
   }
 
-  uint8_t hesai_error = error_code & 0xFF;
-  uint32_t nebula_error_flags = (error_code >> 8);
+  auto ptc_error = error_code.ptc_error_code;
+  auto error_flags = error_code.error_flags;
   std::stringstream ss;
 
-  if (hesai_error) {
-    ss << "Sensor error: 0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(hesai_error) << ' ';
+  if (ptc_error) {
+    ss << "Sensor error: 0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(ptc_error) << ' ';
   }
 
-  switch(hesai_error) {
+  switch(ptc_error) {
     case PTC_ERROR_CODE_NO_ERROR:
       break;
     case PTC_ERROR_CODE_INVALID_INPUT_PARAM:
@@ -1395,27 +1400,27 @@ std::string HesaiHwInterface::PrettyPrintPTCError(uint32_t error_code) {
       break;
   }
 
-  if (!nebula_error_flags) {
+  if (!error_flags) {
     return ss.str();
   }
 
-  if (hesai_error) {
+  if (ptc_error) {
     ss << ", ";
   }
 
   ss << "Communication error: ";
   std::vector<std::string> nebula_errors;
 
-  if (nebula_error_flags & TCP_ERROR_INCOMPLETE_RESPONSE) {
+  if (error_flags & TCP_ERROR_INCOMPLETE_RESPONSE) {
     nebula_errors.push_back("Incomplete response payload");
   }
-  if (nebula_error_flags & TCP_ERROR_TIMEOUT) {
+  if (error_flags & TCP_ERROR_TIMEOUT) {
     nebula_errors.push_back("Request timeout");
   }
-  if (nebula_error_flags & TCP_ERROR_UNEXPECTED_PAYLOAD) {
+  if (error_flags & TCP_ERROR_UNEXPECTED_PAYLOAD) {
     nebula_errors.push_back("Received payload but expected payload length 0");
   }
-  if (nebula_error_flags & TCP_ERROR_UNRELATED_RESPONSE) {
+  if (error_flags & TCP_ERROR_UNRELATED_RESPONSE) {
     nebula_errors.push_back("Received unrelated response");
   }
 

From 5bba66d3d6cffed13bbf515bb759f23dd049f6a8 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 23 Apr 2024 15:35:45 +0900
Subject: [PATCH 041/122] refactor(hesai): re-introduce parameter update
 mechanism

---
 .../include/nebula_common/nebula_common.hpp   |   6 +-
 .../decoders/angle_corrector.hpp              |   8 +-
 .../angle_corrector_calibration_based.hpp     |   8 +-
 .../angle_corrector_correction_based.hpp      |   4 +-
 .../decoders/hesai_decoder.hpp                |  18 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |   8 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    |  14 +-
 .../hesai_hw_interface.hpp                    |  18 +-
 .../hesai_hw_interface.cpp                    |  16 +-
 nebula_ros/CMakeLists.txt                     |   1 +
 .../common/parameter_descriptors.hpp          |  41 ++
 .../nebula_ros/hesai/decoder_wrapper.hpp      |  41 +-
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  39 +-
 .../nebula_ros/hesai/hw_interface_wrapper.hpp |   9 +-
 .../nebula_ros/hesai/hw_monitor_wrapper.hpp   |  13 +-
 .../src/common/parameter_descriptors.cpp      |  29 ++
 nebula_ros/src/hesai/decoder_wrapper.cpp      | 118 +++--
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 428 ++++++------------
 nebula_ros/src/hesai/hw_interface_wrapper.cpp |  46 +-
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp   |  17 +-
 20 files changed, 430 insertions(+), 452 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
 create mode 100644 nebula_ros/src/common/parameter_descriptors.cpp

diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp
index 9d04a267a..cf1eb0841 100644
--- a/nebula_common/include/nebula_common/nebula_common.hpp
+++ b/nebula_common/include/nebula_common/nebula_common.hpp
@@ -346,7 +346,7 @@ enum class PtpProfile {
   IEEE_1588v2 = 0,
   IEEE_802_1AS,
   IEEE_802_1AS_AUTO,
-  PROFILE_UNKNOWN
+  UNKNOWN_PROFILE
 };
 
 enum class PtpTransportType {
@@ -624,7 +624,7 @@ inline PtpProfile PtpProfileFromString(const std::string & ptp_profile)
   if (tmp_str == "802.1as") return PtpProfile::IEEE_802_1AS;
   if (tmp_str == "automotive") return PtpProfile::IEEE_802_1AS_AUTO;
 
-  return PtpProfile::PROFILE_UNKNOWN;
+  return PtpProfile::UNKNOWN_PROFILE;
 }
 
 /// @brief Convert PtpProfile enum to string (Overloading the << operator)
@@ -643,7 +643,7 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::PtpProfile
     case PtpProfile::IEEE_802_1AS_AUTO:
       os << "IEEE_802.1AS Automotive";
       break;
-    case PtpProfile::PROFILE_UNKNOWN:
+    case PtpProfile::UNKNOWN_PROFILE:
       os << "UNKNOWN";
       break;
   }
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
index 42fd0a008..121913c34 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
@@ -26,13 +26,13 @@ struct CorrectedAngleData
 class AngleCorrector
 {
 protected:
-  const std::shared_ptr<HesaiCalibrationConfiguration> sensor_calibration_;
-  const std::shared_ptr<HesaiCorrection> sensor_correction_;
+  const std::shared_ptr<const HesaiCalibrationConfiguration> sensor_calibration_;
+  const std::shared_ptr<const HesaiCorrection> sensor_correction_;
 
 public:
   AngleCorrector(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : sensor_calibration_(sensor_calibration), sensor_correction_(sensor_correction)
   {
   }
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
index 3e0c999b0..bee570afc 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
@@ -27,8 +27,8 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
 
 public:
   AngleCorrectorCalibrationBased(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : AngleCorrector(sensor_calibration, sensor_correction)
   {
     if (sensor_calibration == nullptr) {
@@ -37,8 +37,8 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
     }
 
     for (size_t channel_id = 0; channel_id < ChannelN; ++channel_id) {
-      float elevation_angle_deg = sensor_calibration->elev_angle_map[channel_id];
-      float azimuth_offset_deg = sensor_calibration->azimuth_offset_map[channel_id];
+      float elevation_angle_deg = sensor_calibration->elev_angle_map.at(channel_id);
+      float azimuth_offset_deg = sensor_calibration->azimuth_offset_map.at(channel_id);
 
       elevation_angle_rad_[channel_id] = deg2rad(elevation_angle_deg);
       azimuth_offset_rad_[channel_id] = deg2rad(azimuth_offset_deg);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
index be60078de..d23dfc1f2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
@@ -43,8 +43,8 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
 
 public:
   AngleCorrectorCorrectionBased(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : AngleCorrector(sensor_calibration, sensor_correction),
     logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
   {
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index daf9406cc..e8a9afc34 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -18,7 +18,7 @@ class HesaiDecoder : public HesaiScanDecoder
 {
 protected:
   /// @brief Configuration for this decoder
-  const std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_configuration_;
+  const std::shared_ptr<const drivers::HesaiSensorConfiguration> sensor_configuration_;
 
   /// @brief The sensor definition, used for return mode and time offset handling
   SensorT sensor_{};
@@ -34,13 +34,13 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @brief The last decoded packet
   typename SensorT::packet_t packet_;
   /// @brief The last azimuth processed
-  int last_phase_;
+  int last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   /// @brief The timestamp of the last completed scan in nanoseconds
-  uint64_t output_scan_timestamp_ns_;
+  uint64_t output_scan_timestamp_ns_ = 0;
   /// @brief The timestamp of the scan currently in progress
-  uint64_t decode_scan_timestamp_ns_;
+  uint64_t decode_scan_timestamp_ns_ = 0;
   /// @brief Whether a full scan has been processed
-  bool has_scanned_;
+  bool has_scanned_ = false;
 
   rclcpp::Logger logger_;
 
@@ -209,9 +209,9 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @param correction_configuration Correction for this decoder (can be nullptr if
   /// calibration_configuration is set)
   explicit HesaiDecoder(
-    const std::shared_ptr<HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<HesaiCorrection> & correction_configuration)
+    const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & calibration_configuration,
+    const std::shared_ptr<const HesaiCorrection> & correction_configuration)
   : sensor_configuration_(sensor_configuration),
     angle_corrector_(calibration_configuration, correction_configuration),
     logger_(rclcpp::get_logger("HesaiDecoder"))
@@ -224,8 +224,6 @@ class HesaiDecoder : public HesaiScanDecoder
 
     decode_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
-
-    last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   }
 
   int unpack(const std::vector<uint8_t> & packet) override
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index 5ee9892d4..87798dbd1 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -22,7 +22,7 @@ namespace nebula
 namespace drivers
 {
 /// @brief Hesai driver
-class HesaiDriver : NebulaDriverBase
+class HesaiDriver
 {
 private:
   /// @brief Current driver status
@@ -37,8 +37,8 @@ class HesaiDriver : NebulaDriverBase
   /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
   /// for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-      const std::shared_ptr<drivers::HesaiSensorConfiguration>& sensor_configuration,
-      const std::shared_ptr<drivers::CalibrationConfigurationBase>& calibration_configuration = nullptr);
+      const std::shared_ptr<const drivers::HesaiSensorConfiguration>& sensor_configuration,
+      const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase>& calibration_configuration = nullptr);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -47,7 +47,7 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(const CalibrationConfigurationBase& calibration_configuration) override;
+  Status SetCalibrationConfiguration(const HesaiCalibrationConfigurationBase& calibration_configuration);
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 27624a469..beafd8e71 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,22 +17,22 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(const std::shared_ptr<HesaiSensorConfiguration>& sensor_configuration,
-                         const std::shared_ptr<CalibrationConfigurationBase>& calibration_configuration)
+HesaiDriver::HesaiDriver(const std::shared_ptr<const HesaiSensorConfiguration>& sensor_configuration,
+                         const std::shared_ptr<const HesaiCalibrationConfigurationBase>& calibration_configuration)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
 
-  std::shared_ptr<HesaiCalibrationConfiguration> calibration = nullptr;
-  std::shared_ptr<HesaiCorrection> correction = nullptr;
+  std::shared_ptr<const HesaiCalibrationConfiguration> calibration = nullptr;
+  std::shared_ptr<const HesaiCorrection> correction = nullptr;
 
   if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
   {
-    correction = std::static_pointer_cast<HesaiCorrection>(calibration_configuration);
+    correction = std::static_pointer_cast<const HesaiCorrection>(calibration_configuration);
   }
   else
   {
-    calibration = std::static_pointer_cast<HesaiCalibrationConfiguration>(calibration_configuration);
+    calibration = std::static_pointer_cast<const HesaiCalibrationConfiguration>(calibration_configuration);
   }
 
   switch (sensor_configuration->sensor_model)
@@ -104,7 +104,7 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
 }
 
 Status HesaiDriver::SetCalibrationConfiguration(
-  const CalibrationConfigurationBase & calibration_configuration)
+  const HesaiCalibrationConfigurationBase & calibration_configuration)
 {
   throw std::runtime_error(
     "SetCalibrationConfiguration. Not yet implemented (" +
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index b0a443495..d3472afbe 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -103,7 +103,7 @@ const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
 /// @brief Hardware interface of hesai driver
-class HesaiHwInterface : public NebulaHwInterfaceBase
+class HesaiHwInterface
 {
 private:
   struct ptc_error_t
@@ -120,10 +120,12 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
   std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration_;
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration_;
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
+  std::mutex mtx_inflight_tcp_request_;
+
   int prev_phase_{};
 
   bool is_solid_state = false;
@@ -195,14 +197,14 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
   /// @brief Starting the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStart() final;
+  Status SensorInterfaceStart();
   /// @brief Function for stopping the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStop() final;
+  Status SensorInterfaceStop();
   /// @brief Printing sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
-  Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration) final;
+  Status GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration);
   /// @brief Printing calibration configuration
   /// @param calibration_configuration CalibrationConfiguration for the checking
   /// @return Resulting status
@@ -211,7 +213,7 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
   Status SetSensorConfiguration(
-    std::shared_ptr<SensorConfigurationBase> sensor_configuration) final;
+    std::shared_ptr<const SensorConfigurationBase> sensor_configuration);
   /// @brief Registering callback for PandarScan
   /// @param scan_callback Callback function
   /// @return Resulting status
@@ -382,13 +384,13 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   /// @param hesai_config Current HesaiConfig
   /// @return Resulting status
   HesaiStatus CheckAndSetConfig(
-    std::shared_ptr<HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config);
+    std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config);
   /// @brief Checking the current settings and changing the difference point
   /// @param sensor_configuration Current SensorConfiguration
   /// @param hesai_lidar_range_all Current HesaiLidarRangeAll
   /// @return Resulting status
   HesaiStatus CheckAndSetConfig(
-    std::shared_ptr<HesaiSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration,
     HesaiLidarRangeAll hesai_lidar_range_all);
   /// @brief Checking the current settings and changing the difference point
   /// @return Resulting status
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 39279aed8..b6d7b68e2 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -28,6 +28,8 @@ HesaiHwInterface::~HesaiHwInterface()
 HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   const uint8_t command_id, const std::vector<uint8_t> & payload)
 {
+  std::lock_guard lock(mtx_inflight_tcp_request_);
+
   uint32_t len = payload.size();
 
   std::vector<uint8_t> send_buf;
@@ -121,10 +123,10 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
 }
 
 Status HesaiHwInterface::SetSensorConfiguration(
-  std::shared_ptr<SensorConfigurationBase> sensor_configuration)
+  std::shared_ptr<const SensorConfigurationBase> sensor_configuration)
 {
   sensor_configuration_ =
-    std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
+    std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration);
   return Status::OK;
 }
 
@@ -176,7 +178,7 @@ Status HesaiHwInterface::SensorInterfaceStop()
   return Status::ERROR_1;
 }
 
-Status HesaiHwInterface::GetSensorConfiguration(SensorConfigurationBase & sensor_configuration)
+Status HesaiHwInterface::GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration)
 {
   std::stringstream ss;
   ss << sensor_configuration;
@@ -809,7 +811,7 @@ HesaiStatus HesaiHwInterface::GetLidarMonitorAsyncHttp(
 }
 
 HesaiStatus HesaiHwInterface::CheckAndSetConfig(
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config)
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config)
 {
   using namespace std::chrono_literals;
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
@@ -968,7 +970,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 }
 
 HesaiStatus HesaiHwInterface::CheckAndSetConfig(
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration,
   HesaiLidarRangeAll hesai_lidar_range_all)
 {
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
@@ -1032,7 +1034,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig()
     ss << result;
     PrintInfo(ss.str());
     CheckAndSetConfig(
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration_), result);
+      std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration_), result);
   });
   t.join();
 
@@ -1042,7 +1044,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig()
     ss << result;
     PrintInfo(ss.str());
     CheckAndSetConfig(
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration_), result);
+      std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration_), result);
   });
   t2.join();
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index b11339765..324d38074 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -40,6 +40,7 @@ ament_auto_add_library(hesai_ros_wrapper SHARED
         src/hesai/decoder_wrapper.cpp
         src/hesai/hw_interface_wrapper.cpp
         src/hesai/hw_monitor_wrapper.cpp
+        src/common/parameter_descriptors.cpp
         )
 
 rclcpp_components_register_node(hesai_ros_wrapper
diff --git a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
new file mode 100644
index 000000000..b54d8ad63
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+#include <rcl_interfaces/msg/parameter.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace nebula
+{
+namespace ros
+{
+
+rcl_interfaces::msg::ParameterDescriptor param_read_write();
+
+rcl_interfaces::msg::ParameterDescriptor param_read_only();
+
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop,
+                                                                                 double step);
+
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step);
+
+/// @brief Get a parameter's value from a list of parameters, if that parameter is in the list.
+/// @tparam T The parameter's expected value type
+/// @param p A vector of parameters
+/// @param name Target parameter name
+/// @param value (out) Parameter value. Set if parameter is found, left untouched otherwise.
+/// @return Whether the target name existed
+template <typename T>
+bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
+{
+  auto it = std::find_if(p.cbegin(), p.cend(),
+                         [&name](const rclcpp::Parameter & parameter) { return parameter.get_name() == name; });
+  if (it != p.cend())
+  {
+    value = it->template get_value<T>();
+    return true;
+  }
+  return false;
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
index 262c16839..3b2af26d4 100644
--- a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -2,17 +2,19 @@
 
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 
-#include <nebula_common/nebula_common.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/nebula_common.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
-#include <memory>
 #include <filesystem>
+#include <memory>
+#include <mutex>
 
 namespace nebula
 {
@@ -20,22 +22,38 @@ namespace ros
 {
 class HesaiDecoderWrapper
 {
+  using get_calibration_result_t =
+      nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>;
+
 public:
   HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                       const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                      std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
-
-  nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
-  GetCalibrationData();
+                      std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
   void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
 
-  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config);
+
+  void
+  OnCalibrationChange(const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration);
+
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
 
   nebula::Status Status();
 
 private:
+  /// @brief Load calibration data from the best available source:
+  /// 1. If sensor connected, download and save from sensor
+  /// 2. If downloaded file available, load that file
+  /// 3. Load the file given by `calibration_file_path`
+  /// @param calibration_file_path The file to use if no better option is available
+  /// @param ignore_others If true, skip straight so step 3 above, ignoring better calibration options
+  /// @return The calibration data if successful, or an error code if not
+  get_calibration_result_t GetCalibrationData(const std::string& calibration_file_path, bool ignore_others = false);
+
+  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+
   /// @brief Convert seconds to chrono::nanoseconds
   /// @param seconds
   /// @return chrono::nanoseconds
@@ -48,12 +66,13 @@ class HesaiDecoderWrapper
   rclcpp::Logger logger_;
 
   const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
-  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
 
   std::string calibration_file_path_{};
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_{};
+  std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> calibration_cfg_ptr_{};
 
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
+  std::mutex mtx_driver_ptr_;
 
   rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
   pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index e037bce40..42d8bdc36 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "boost_tcp_driver/tcp_driver.hpp"
+
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
@@ -9,6 +10,7 @@
 #include "nebula_ros/hesai/hw_interface_wrapper.hpp"
 #include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
 #include "nebula_ros/hesai/mt_queue.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -31,31 +33,12 @@ namespace nebula
 namespace ros
 {
 
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
-{
-  auto it = std::find_if(p.cbegin(), p.cend(),
-                         [&name](const rclcpp::Parameter& parameter) { return parameter.get_name() == name; });
-  if (it != p.cend())
-  {
-    value = it->template get_value<T>();
-    return true;
-  }
-  return false;
-}
-
 /// @brief Ros wrapper of hesai driver
 class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
   explicit HesaiRosWrapper(const rclcpp::NodeOptions& options);
-  ~HesaiRosWrapper() noexcept;
+  ~HesaiRosWrapper() noexcept {};
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -72,23 +55,16 @@ class HesaiRosWrapper final : public rclcpp::Node
 
   Status DeclareAndGetSensorConfigParams();
 
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status DeclareAndGetWrapperParams();
-
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter>& parameters);
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
 
-  /// @brief Updating rclcpp parameter
-  /// @return SetParametersResult
-  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
+  Status ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config);
 
   Status wrapper_status_;
 
-  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
@@ -104,7 +80,8 @@ class HesaiRosWrapper final : public rclcpp::Node
   std::optional<HesaiDecoderWrapper> decoder_wrapper_;
 
   std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
+
+  OnSetParametersCallbackHandle::SharedPtr parameter_event_cb_;
 };
 
 }  // namespace ros
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
index 30f069c99..cbf78d130 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -1,8 +1,10 @@
 #pragma once
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 #include <nebula_common/hesai/hesai_common.hpp>
-#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
@@ -15,9 +17,9 @@ class HesaiHwInterfaceWrapper
 {
 public:
   HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
-                          std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+                          std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
-  nebula::Status InitializeHwInterface();
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
 
   nebula::Status Status();
 
@@ -27,6 +29,7 @@ class HesaiHwInterfaceWrapper
   std::shared_ptr<drivers::HesaiHwInterface> hw_interface_;
   rclcpp::Logger logger_;
   nebula::Status status_;
+  bool setup_sensor_;
 };
 }  // namespace ros
 }  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
index 5ddfc9e79..5209f64a2 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
@@ -1,7 +1,10 @@
 #pragma once
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
+
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -22,10 +25,13 @@ class HesaiHwMonitorWrapper
 public:
   HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
                         const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                        std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+                        std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
-  nebula::Status InitializeHwMonitor();
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & /* new_config */) {}
+
+  nebula::Status Status();
 
+private:
   void InitializeHesaiDiagnostics();
 
   std::string GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key);
@@ -50,9 +56,6 @@ class HesaiHwMonitorWrapper
 
   void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
 
-  nebula::Status Status();
-
-private:
   rclcpp::Logger logger_;
   diagnostic_updater::Updater diagnostics_updater_;
   nebula::Status status_;
diff --git a/nebula_ros/src/common/parameter_descriptors.cpp b/nebula_ros/src/common/parameter_descriptors.cpp
new file mode 100644
index 000000000..ffd0fff37
--- /dev/null
+++ b/nebula_ros/src/common/parameter_descriptors.cpp
@@ -0,0 +1,29 @@
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+rcl_interfaces::msg::ParameterDescriptor param_read_write()
+{
+  return rcl_interfaces::msg::ParameterDescriptor{};
+};
+
+rcl_interfaces::msg::ParameterDescriptor param_read_only()
+{
+  return rcl_interfaces::msg::ParameterDescriptor{}.set__read_only(true);
+}
+
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop, double step)
+{
+  return { rcl_interfaces::msg::FloatingPointRange().set__from_value(start).set__to_value(stop).set__step(step) };
+}
+
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step)
+{
+  return { rcl_interfaces::msg::IntegerRange().set__from_value(start).set__to_value(stop).set__step(step) };
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 1ae6d2837..1b7c10582 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -7,7 +7,7 @@ namespace ros
 
 HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                                          const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                         std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+                                         std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : status_(nebula::Status::NOT_INITIALIZED)
   , logger_(parent_node->get_logger().get_child("HesaiDecoder"))
   , hw_interface_(hw_interface)
@@ -20,26 +20,14 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
 
   if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<std::string>("correction_file", "", descriptor);
-    calibration_file_path_ = parent_node->get_parameter("correction_file").as_string();
+    calibration_file_path_ = parent_node->declare_parameter<std::string>("correction_file", "", param_read_write());
   }
   else
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path_ = parent_node->get_parameter("calibration_file").as_string();
+    calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
   }
 
-  auto calibration_result = GetCalibrationData();
+  auto calibration_result = GetCalibrationData(calibration_file_path_, false);
 
   if (!calibration_result.has_value())
   {
@@ -78,8 +66,64 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
 }
 
-nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
-HesaiDecoderWrapper::GetCalibrationData()
+void HesaiDecoderWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::HesaiDriver>(new_config, calibration_cfg_ptr_);
+  driver_ptr_ = new_driver;
+  sensor_cfg_ = new_config;
+}
+
+void HesaiDecoderWrapper::OnCalibrationChange(
+    const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::HesaiDriver>(sensor_cfg_, new_calibration);
+  driver_ptr_ = new_driver;
+  calibration_cfg_ptr_ = new_calibration;
+  calibration_file_path_ = calibration_cfg_ptr_->calibration_file;
+}
+
+rcl_interfaces::msg::SetParametersResult HesaiDecoderWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+{
+  using namespace rcl_interfaces::msg;
+
+  std::string calibration_path = "";
+
+  // Only one of the two parameters is defined, so not checking for sensor model explicitly here is fine
+  bool got_any = get_param(p, "calibration_file", calibration_path) | get_param(p, "correction_file", calibration_path);
+  if (!got_any)
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
+  if (!std::filesystem::exists(calibration_path))
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = "The given calibration path does not exist, ignoring: '" + calibration_path + "'";
+    return result;
+  }
+
+  auto get_calibration_result = GetCalibrationData(calibration_path, true);
+  if (!get_calibration_result.has_value())
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Could not change calibration file to '" << calibration_path
+                                         << "': " << get_calibration_result.error())
+                        .str();
+    return result;
+  }
+
+  OnCalibrationChange(get_calibration_result.value());
+  RCLCPP_INFO_STREAM(logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+}
+
+HesaiDecoderWrapper::get_calibration_result_t
+HesaiDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path, bool ignore_others)
 {
   std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calib;
 
@@ -96,16 +140,15 @@ HesaiDecoderWrapper::GetCalibrationData()
   std::string calibration_file_path_from_sensor;
 
   {
-    int ext_pos = calibration_file_path_.find_last_of('.');
-    calibration_file_path_from_sensor = calibration_file_path_.substr(0, ext_pos);
+    int ext_pos = calibration_file_path.find_last_of('.');
+    calibration_file_path_from_sensor = calibration_file_path.substr(0, ext_pos);
     // TODO: if multiple different sensors of the same type are used, this will mix up their calibration data
     calibration_file_path_from_sensor += "_from_sensor";
-    calibration_file_path_from_sensor +=
-        calibration_file_path_.substr(ext_pos, calibration_file_path_.size() - ext_pos);
+    calibration_file_path_from_sensor += calibration_file_path.substr(ext_pos, calibration_file_path.size() - ext_pos);
   }
 
   // If a sensor is connected, try to download and save its calibration data
-  if (hw_connected)
+  if (!ignore_others && hw_connected)
   {
     try
     {
@@ -128,7 +171,7 @@ HesaiDecoderWrapper::GetCalibrationData()
   }
 
   // If saved calibration data from a sensor exists (either just downloaded above, or previously), try to load it
-  if (std::filesystem::exists(calibration_file_path_from_sensor))
+  if (!ignore_others && std::filesystem::exists(calibration_file_path_from_sensor))
   {
     auto status = calib->LoadFromFile(calibration_file_path_from_sensor);
     if (status == Status::OK)
@@ -139,31 +182,34 @@ HesaiDecoderWrapper::GetCalibrationData()
 
     RCLCPP_ERROR_STREAM(logger_, "Could not load downloaded calibration data: " << status);
   }
-  else
+  else if (!ignore_others)
   {
     RCLCPP_ERROR(logger_, "No downloaded calibration data found.");
   }
 
-  RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+  if (!ignore_others)
+  {
+    RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+  }
 
   // If downloaded data did not exist or could not be loaded, fall back to a generic file.
   // If that file does not exist either, return an error code
-  if (!std::filesystem::exists(calibration_file_path_))
+  if (!std::filesystem::exists(calibration_file_path))
   {
     RCLCPP_ERROR(logger_, "No calibration data found.");
     return nebula::Status(Status::INVALID_CALIBRATION_FILE);
   }
 
   // Try to load the existing fallback calibration file. Return an error if this fails
-  auto status = calib->LoadFromFile(calibration_file_path_);
+  auto status = calib->LoadFromFile(calibration_file_path);
   if (status != Status::OK)
   {
-    RCLCPP_ERROR(logger_, "Could not load fallback calibration file.");
+    RCLCPP_ERROR_STREAM(logger_, "Could not load calibration file at '" << calibration_file_path << "'");
     return status;
   }
 
   // Return the fallback calibration file
-  calib->calibration_file = calibration_file_path_;
+  calib->calibration_file = calibration_file_path;
   return calib;
 }
 
@@ -185,9 +231,13 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
   }
 
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-      driver_ptr_->ParseCloudPacket(packet_msg->data);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts{};
+  nebula::drivers::NebulaPointCloudPtr pointcloud = nullptr;
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud_ts = driver_ptr_->ParseCloudPacket(packet_msg->data);
+    pointcloud = std::get<0>(pointcloud_ts);
+  }
 
   if (pointcloud == nullptr)
   {
@@ -244,6 +294,8 @@ void HesaiDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCl
 
 nebula::Status HesaiDecoderWrapper::Status()
 {
+  std::lock_guard lock(mtx_driver_ptr_);
+
   if (!driver_ptr_)
   {
     return nebula::Status::NOT_INITIALIZED;
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index e99e5c6d9..1bce59ffe 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -16,7 +16,15 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   wrapper_status_ = DeclareAndGetSensorConfigParams();
-  wrapper_status_ = DeclareAndGetWrapperParams();
+
+  if (wrapper_status_ != Status::OK)
+  {
+    throw std::runtime_error((std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+  }
+
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+
+  launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
   if (launch_hw_)
   {
@@ -27,10 +35,6 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
   decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
                            sensor_cfg_ptr_);
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
-  set_param_res_ =
-      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
-
   RCLCPP_DEBUG(get_logger(), "Starting stream");
 
   decoder_thread_ = std::thread([this]() {
@@ -42,263 +46,164 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
 
   if (launch_hw_)
   {
-    StreamStart();
     hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
         std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+    StreamStart();
   }
   else
   {
     packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
         "pandar_packets", rclcpp::SensorDataQoS(),
         std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
-    RCLCPP_INFO_STREAM(get_logger(), "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
+    RCLCPP_INFO_STREAM(get_logger(),
+                       "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
   }
+
+  // Register parameter callback after all params have been declared. Otherwise it would be called once for each
+  // declaration
+  parameter_event_cb_ =
+      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::OnParameterChange, this, std::placeholders::_1));
 }
 
 nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
 {
-  nebula::drivers::HesaiSensorConfiguration sensor_configuration;
+  nebula::drivers::HesaiSensorConfiguration config;
+
+  auto _sensor_model = declare_parameter<std::string>("sensor_model", "", param_read_only());
+  config.sensor_model = drivers::SensorModelFromString(_sensor_model);
+
+  auto _return_mode = declare_parameter<std::string>("return_mode", "", param_read_write());
+  config.return_mode = drivers::ReturnModeFromStringHesai(_return_mode, config.sensor_model);
+
+  config.host_ip = declare_parameter<std::string>("host_ip", "255.255.255.255", param_read_only());
+  config.sensor_ip = declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
+  config.data_port = declare_parameter<uint16_t>("data_port", 2368, param_read_only());
+  config.gnss_port = declare_parameter<uint16_t>("gnss_port", 2369, param_read_only());
+  config.frame_id = declare_parameter<std::string>("frame_id", "pandar", param_read_write());
 
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-        nebula::drivers::SensorModelFromString(get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-        get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = { range };
-    declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = get_parameter("min_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = get_parameter("max_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = get_parameter("packet_mtu_size").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.])";
+    descriptor.floating_point_range = float_range(0, 360, 0.01);
+    config.scan_phase = declare_parameter<double>("scan_phase", 0., descriptor);
   }
+
+  config.min_range = declare_parameter<double>("min_range", 0.3, param_read_write());
+  config.max_range = declare_parameter<double>("max_range", 300., param_read_write());
+  config.packet_mtu_size = declare_parameter<uint16_t>("packet_mtu_size", 1500, param_read_only());
+
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    uint16_t default_value;
+    RCLCPP_DEBUG_STREAM(get_logger(), config.sensor_model);
+    if (config.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
     {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      // range.set__from_value(200).set__to_value(500).set__step(100);
-      // descriptor.integer_range = {range}; //todo
-      declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+      descriptor.additional_constraints = "200, 400";
+      descriptor.integer_range = int_range(200, 400, 200);
+      default_value = 200;
     }
     else
     {
       descriptor.additional_constraints = "300, 600, 1200";
-      // range.set__from_value(300).set__to_value(1200).set__step(300);
-      // descriptor.integer_range = {range}; //todo
-      declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+      descriptor.integer_range = int_range(300, 1200, 300);
+      default_value = 600;
     }
-    sensor_configuration.rotation_speed = get_parameter("rotation_speed").as_int();
+    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", default_value, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = get_parameter("cloud_min_angle").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_min_angle = declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = get_parameter("cloud_max_angle").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_max_angle = declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = { range };
-    declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold = get_parameter("dual_return_distance_threshold").as_double();
+    descriptor.floating_point_range = float_range(0.01, 0.5, 0.01);
+    config.dual_return_distance_threshold =
+        declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
   }
+
+  auto _ptp_profile = declare_parameter<std::string>("ptp_profile", "", param_read_only());
+  config.ptp_profile = drivers::PtpProfileFromString(_ptp_profile);
+
+  auto _ptp_transport = declare_parameter<std::string>("ptp_transport_type", "", param_read_only());
+  config.ptp_transport_type = drivers::PtpTransportTypeFromString(_ptp_transport);
+
+  if (config.ptp_transport_type != drivers::PtpTransportType::L2 &&
+      config.ptp_profile != drivers::PtpProfile::IEEE_1588v2 &&
+      config.ptp_profile != drivers::PtpProfile::UNKNOWN_PROFILE)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile = nebula::drivers::PtpProfileFromString(get_parameter("ptp_profile").as_string());
+    RCLCPP_WARN_STREAM(get_logger(), "PTP transport was set to '" << _ptp_transport << "' but PTP profile '"
+                                                                  << _ptp_profile
+                                                                  << "' only supports 'L2'. Setting it to 'L2'.");
+    config.ptp_transport_type = drivers::PtpTransportType::L2;
+    set_parameter(rclcpp::Parameter("ptp_transport_type", "L2"));
   }
+
+  auto _ptp_switch = declare_parameter<std::string>("ptp_switch_type", "", param_read_only());
+  config.ptp_switch_type = drivers::PtpSwitchTypeFromString(_ptp_switch);
+
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-        nebula::drivers::PtpTransportTypeFromString(get_parameter("ptp_transport_type").as_string());
-    if (static_cast<int>(sensor_configuration.ptp_profile) > 0)
-    {
-      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
-    }
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_only();
+    descriptor.integer_range = int_range(0, 127, 1);
+    config.ptp_domain = declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
   }
+
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::HesaiSensorConfiguration>(config);
+  return ValidateAndSetConfig(new_cfg_ptr);
+}
+
+Status HesaiRosWrapper::ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config)
+{
+  if (new_config->sensor_model == nebula::drivers::SensorModel::UNKNOWN)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_switch_type", "");
-    sensor_configuration.ptp_switch_type =
-        nebula::drivers::PtpSwitchTypeFromString(get_parameter("ptp_switch_type").as_string());
+    return Status::INVALID_SENSOR_MODEL;
   }
+  if (new_config->return_mode == nebula::drivers::ReturnMode::UNKNOWN)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = get_parameter("ptp_domain").as_int();
+    return Status::INVALID_ECHO_MODE;
   }
-
-  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN)
+  if (new_config->frame_id.empty())
+  {
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if (new_config->ptp_profile == nebula::drivers::PtpProfile::UNKNOWN_PROFILE)
   {
     RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
+  if (new_config->ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
   {
     RCLCPP_ERROR_STREAM(get_logger(),
                         "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
                         "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
+  if (new_config->ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
   {
     RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN)
+
+  if (hw_interface_wrapper_)
   {
-    return Status::INVALID_SENSOR_MODEL;
+    hw_interface_wrapper_->OnConfigChange(new_config);
   }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN)
+  if (hw_monitor_wrapper_)
   {
-    return Status::INVALID_ECHO_MODE;
+    hw_monitor_wrapper_->OnConfigChange(new_config);
   }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360)
+  if (decoder_wrapper_)
   {
-    return Status::SENSOR_CONFIG_ERROR;
+    decoder_wrapper_->OnConfigChange(new_config);
   }
 
-  auto new_cfg_ptr_ = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(sensor_configuration);
-  sensor_cfg_ptr_.swap(new_cfg_ptr_);
+  sensor_cfg_ptr_ = new_config;
   return Status::OK;
 }
 
@@ -326,25 +231,6 @@ Status HesaiRosWrapper::GetStatus()
   return wrapper_status_;
 }
 
-Status HesaiRosWrapper::DeclareAndGetWrapperParams()
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw_ = get_parameter("launch_hw").as_bool();
-  }
-
-  return Status::OK;
-}
-
-HesaiRosWrapper::~HesaiRosWrapper()
-{
-}
-
 Status HesaiRosWrapper::StreamStart()
 {
   if (!hw_interface_wrapper_)
@@ -360,74 +246,60 @@ Status HesaiRosWrapper::StreamStart()
   return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(const std::vector<rclcpp::Parameter>& p)
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
 {
+  using namespace rcl_interfaces::msg;
+
+  if (p.empty())
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(get_logger(), p);
-  RCLCPP_DEBUG_STREAM(get_logger(), *sensor_cfg_ptr_);
+
+  RCLCPP_INFO(get_logger(), "OnParameterChange");
 
   drivers::HesaiSensorConfiguration new_cfg(*sensor_cfg_ptr_);
 
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  if (get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
-      get_param(p, "host_ip", new_cfg.host_ip) | get_param(p, "sensor_ip", new_cfg.sensor_ip) |
-      get_param(p, "frame_id", new_cfg.frame_id) | get_param(p, "data_port", new_cfg.data_port) |
-      get_param(p, "gnss_port", new_cfg.gnss_port) | get_param(p, "scan_phase", new_cfg.scan_phase) |
-      get_param(p, "packet_mtu_size", new_cfg.packet_mtu_size) |
-      get_param(p, "rotation_speed", new_cfg.rotation_speed) |
-      get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
-      get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
-      get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold))
+  std::string _return_mode = "";
+  bool got_any = get_param(p, "return_mode", _return_mode) | get_param(p, "frame_id", new_cfg.frame_id) |
+                 get_param(p, "scan_phase", new_cfg.scan_phase) | get_param(p, "min_range", new_cfg.min_range) |
+                 get_param(p, "max_range", new_cfg.max_range) | get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+                 get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+                 get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
+                 get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold);
+
+  // Currently, HW interface and monitor wrappers have only read-only parameters, so their update logic is not
+  // implemented
+  if (decoder_wrapper_)
+  {
+    auto result = decoder_wrapper_->OnParameterChange(p);
+    if (!result.successful) {
+      return result;
+    }
+  }
+
+  if (!got_any)
   {
-    if (0 < sensor_model_str.length())
-      new_cfg.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
-    if (0 < return_mode_str.length())
-      new_cfg.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
-
-    auto new_cfg_ptr = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(new_cfg);
-    sensor_cfg_ptr_.swap(new_cfg_ptr);
-    RCLCPP_INFO_STREAM(get_logger(), "Update sensor_configuration");
-    RCLCPP_DEBUG_STREAM(get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_wrapper_->HwInterface()->SetSensorConfiguration(
-        std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    hw_interface_wrapper_->HwInterface()->CheckAndSetConfig();
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
   }
 
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
+  if (_return_mode.length() > 0)
+    new_cfg.return_mode = nebula::drivers::ReturnModeFromString(_return_mode);
 
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback success");
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::HesaiSensorConfiguration>(new_cfg);
+  auto status = ValidateAndSetConfig(new_cfg_ptr);
 
-  return *result;
-}
+  if (status != Status::OK)
+  {
+    RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    return result;
+  }
 
-std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters start");
-  std::ostringstream os_sensor_model;
-  os_sensor_model << sensor_cfg_ptr_->sensor_model;
-  std::ostringstream os_return_mode;
-  os_return_mode << sensor_cfg_ptr_->return_mode;
-  RCLCPP_INFO_STREAM(get_logger(), "set_parameters");
-  auto results = set_parameters(
-      { rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-        rclcpp::Parameter("return_mode", os_return_mode.str()), rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
-        rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
-        rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
-        rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
-        rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
-        rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
-        rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
-        rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
-        rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
-        rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
-        rclcpp::Parameter("dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold) });
-  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters end");
-  return results;
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
 }
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
index e38f6b181..c10319c1e 100644
--- a/nebula_ros/src/hesai/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -5,36 +5,20 @@ namespace nebula
 namespace ros
 {
 
-HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
-                                                 std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
+    rclcpp::Node* const parent_node, std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : hw_interface_(new nebula::drivers::HesaiHwInterface())
   , logger_(parent_node->get_logger().get_child("HwInterface"))
   , status_(Status::NOT_INITIALIZED)
 {
-  bool setup_sensor, retry_connect;
+  setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", true, param_read_only());
+  bool retry_connect = parent_node->declare_parameter<bool>("retry_hw", true, param_read_only());
 
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<bool>("setup_sensor", true, descriptor);
-    setup_sensor = parent_node->get_parameter("setup_sensor").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<bool>("retry_hw", true, descriptor);
-    retry_connect = parent_node->get_parameter("retry_hw").as_bool();
-  }
-
-  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<drivers::SensorConfigurationBase>(config));
+  status_ = hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const drivers::SensorConfigurationBase>(config));
 
-  status_ = Status::OK;
+  if (status_ != Status::OK) {
+    throw std::runtime_error((std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+  }
 
   hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
   hw_interface_->SetTargetModel(config->sensor_model);
@@ -51,7 +35,7 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
 
     retry_count++;
     std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-    RCLCPP_WARN_STREAM(logger_, "Retry: " << retry_count);
+    RCLCPP_WARN_STREAM(logger_, status_ << ". Retry #" << retry_count);
   }
 
   if (status_ == Status::OK)
@@ -66,10 +50,9 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
     {
       RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor...");
     }
-    if (setup_sensor)
+    if (setup_sensor_)
     {
       hw_interface_->CheckAndSetConfig();
-      // updateParameters(); TODO
     }
   }
   else
@@ -80,6 +63,15 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
   status_ = Status::OK;
 }
 
+void HesaiHwInterfaceWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+{
+  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const nebula::drivers::SensorConfigurationBase>(new_config));
+  if (setup_sensor_) {
+    hw_interface_->CheckAndSetConfig();
+  }
+}
+
 Status HesaiHwInterfaceWrapper::Status()
 {
   return status_;
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index 579e32a4e..0a56bec57 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -6,22 +6,14 @@ namespace ros
 {
 HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
                                              const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                             std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+                                             std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : logger_(parent_node->get_logger().get_child("HwMonitor"))
   , diagnostics_updater_(parent_node)
   , status_(Status::OK)
   , hw_interface_(hw_interface)
   , parent_node_(parent_node)
 {
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    parent_node->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    diag_span_ = parent_node->get_parameter("diag_span").as_int();
-  }
+  diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", 1000, param_read_only());
 
   switch (config->sensor_model)
   {
@@ -66,11 +58,6 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
   RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
   RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
   InitializeHesaiDiagnostics();
-
-  if (Status::OK != status_)
-  {
-    throw std::runtime_error((std::stringstream() << "Error getting calibration data: " << status_).str());
-  }
 }
 
 void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()

From 37bc57555bcc764fd9f3b3b6cb31c4247603f2cd Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 23 Apr 2024 16:58:52 +0900
Subject: [PATCH 042/122] feat(hesai_ros): add watchdog timer for pointcloud
 output

---
 .../nebula_ros/common/watchdog_timer.hpp      | 52 +++++++++++++++++++
 .../nebula_ros/hesai/decoder_wrapper.hpp      |  3 ++
 nebula_ros/src/hesai/decoder_wrapper.cpp      | 10 ++++
 3 files changed, 65 insertions(+)
 create mode 100644 nebula_ros/include/nebula_ros/common/watchdog_timer.hpp

diff --git a/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
new file mode 100644
index 000000000..ae556e33e
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <cstdint>
+#include <atomic>
+#include <chrono>
+#include <functional>
+
+namespace nebula
+{
+namespace ros
+{
+
+class WatchdogTimer
+{
+  using watchdog_cb_t = std::function<void(bool)>;
+
+public:
+  WatchdogTimer(rclcpp::Node& node, const std::chrono::microseconds& expected_update_interval, const watchdog_cb_t& callback)
+    : node_(node)
+    , callback_(callback)
+    , expected_update_interval_ns_(
+          std::chrono::duration_cast<std::chrono::nanoseconds>(expected_update_interval).count())
+  {
+    timer_ = node_.create_wall_timer(expected_update_interval, std::bind(&WatchdogTimer::onTimer, this));
+  }
+
+  void update()
+  {
+    last_update_ns_ = node_.get_clock()->now().nanoseconds();
+  }
+
+private:
+  void onTimer()
+  {
+    uint64_t now_ns = node_.get_clock()->now().nanoseconds();
+
+    bool is_late = (now_ns - last_update_ns_) > expected_update_interval_ns_;
+
+    callback_(!is_late);
+  }
+
+  rclcpp::Node& node_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::atomic<uint64_t> last_update_ns_;
+  const watchdog_cb_t callback_;
+
+  const uint64_t expected_update_interval_ns_;
+};
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
index 3b2af26d4..da5e60ff0 100644
--- a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -3,6 +3,7 @@
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/parameter_descriptors.hpp"
+#include "nebula_ros/common/watchdog_timer.hpp"
 
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/nebula_common.hpp>
@@ -80,6 +81,8 @@ class HesaiDecoderWrapper
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
+
+  std::shared_ptr<WatchdogTimer> cloud_watchdog_;
 };
 }  // namespace ros
 }  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 1b7c10582..0ddfd599e 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -5,6 +5,8 @@ namespace nebula
 namespace ros
 {
 
+using namespace std::chrono_literals;
+
 HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                                          const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
                                          std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
@@ -64,6 +66,12 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
   aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
 
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
+
+  cloud_watchdog_ = std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
+    if (ok)
+      return;
+    RCLCPP_WARN_THROTTLE(logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
+  });
 }
 
 void HesaiDecoderWrapper::OnConfigChange(
@@ -246,6 +254,8 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     return;
   };
 
+  cloud_watchdog_->update();
+
   // Publish scan message only if it has been written to
   if (current_scan_msg_ && !current_scan_msg_->packets.empty())
   {

From eb80e3a889292c48036e2ad9c305f3bd81d74193 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 25 Apr 2024 18:29:33 +0900
Subject: [PATCH 043/122] fix(hesai): change to possibly more accurate
 high_resolution_clock

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1bce59ffe..6e08c0e3b 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -309,7 +309,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
     return;
   }
 
-  const auto now = std::chrono::system_clock::now();
+  const auto now = std::chrono::high_resolution_clock::now();
   const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
 
   auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();

From 0f0456a07c3fb1ad31011bdfa36bddae67277bf7 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 25 Apr 2024 18:34:02 +0900
Subject: [PATCH 044/122] fix(hesai): fix crash on QT128

---
 .../hesai_hw_interface.cpp                    | 47 ++++++++++++-------
 1 file changed, 31 insertions(+), 16 deletions(-)

diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index b6d7b68e2..3ce70dd1f 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -262,8 +262,10 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagStatus)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagStatus)) {
+    throw std::runtime_error("HesaiPtpDiagStatus has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagStatus)) {
+    PrintError("HesaiPtpDiagStatus from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagStatus hesai_ptp_diag_status;
@@ -281,9 +283,12 @@ HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagPort)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagPort)) {
+    throw std::runtime_error("HesaiPtpDiagPort has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagPort)) {
+    PrintError("HesaiPtpDiagPort from Sensor has unknown format. Will parse anyway.");
   }
+
   HesaiPtpDiagPort hesai_ptp_diag_port;
   memcpy(&hesai_ptp_diag_port, response.data(), sizeof(HesaiPtpDiagPort));
 
@@ -299,8 +304,10 @@ HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagTime)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagTime)) {
+    throw std::runtime_error("HesaiPtpDiagTime has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagTime)) {
+    PrintError("HesaiPtpDiagTime from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagTime hesai_ptp_diag_time;
@@ -318,8 +325,10 @@ HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagGrandmaster)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagGrandmaster)) {
+    throw std::runtime_error("HesaiPtpDiagGrandmaster has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagGrandmaster)) {
+    PrintError("HesaiPtpDiagGrandmaster from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagGrandmaster hesai_ptp_diag_grandmaster;
@@ -338,7 +347,7 @@ HesaiInventory HesaiHwInterface::GetInventory()
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiInventory)) {
-    throw std::runtime_error("Unexpected payload size");
+    throw std::runtime_error("HesaiInventory has unexpected payload size");
   } else if (response.size() > sizeof(HesaiInventory)) {
     PrintError("HesaiInventory from Sensor has unknown format. Will parse anyway.");
   }
@@ -354,8 +363,10 @@ HesaiConfig HesaiHwInterface::GetConfig()
   auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiConfig)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiConfig)) {
+    throw std::runtime_error("HesaiConfig has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiConfig)) {
+    PrintError("HesaiConfig from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiConfig hesai_config;
@@ -370,8 +381,10 @@ HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiLidarStatus)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiLidarStatus)) {
+    throw std::runtime_error("HesaiLidarStatus has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiLidarStatus)) {
+    PrintError("HesaiLidarStatus from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiLidarStatus hesai_status;
@@ -590,7 +603,7 @@ HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiPtpConfig)) {
-    throw std::runtime_error("Unexpected payload size");
+    throw std::runtime_error("HesaiPtpConfig has unexpected payload size");
   } else if (response.size() > sizeof(HesaiPtpConfig)) {
     PrintError("HesaiPtpConfig from Sensor has unknown format. Will parse anyway.");
   }
@@ -630,8 +643,10 @@ HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
   auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiLidarMonitor)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiLidarMonitor)) {
+    throw std::runtime_error("HesaiLidarMonitor has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiLidarMonitor)) {
+    PrintError("HesaiLidarMonitor from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiLidarMonitor hesai_lidar_monitor;

From 897bfb43286b36e8a7242bcdd1379fb765d32164 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 11:14:00 +0900
Subject: [PATCH 045/122] refactor(hesai_hw_interface): refactor repeated error
 handling code

---
 .../hesai_hw_interface.hpp                    |   6 +
 .../hesai_hw_interface.cpp                    | 116 +++++-------------
 2 files changed, 35 insertions(+), 87 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index d3472afbe..8dc270b8e 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -168,6 +168,12 @@ class HesaiHwInterface
   /// @return A string description of all errors in this code
   std::string PrettyPrintPTCError(ptc_error_t error_code);
 
+  /// @brief Checks if the data size matches that of the struct to be parsed, and parses the struct.
+  /// If data is too small, a std::runtime_error is thrown. If data is too large, a warning is printed
+  /// and the struct is parsed with the first sizeof(T) bytes.
+  template <typename T>
+  T CheckSizeAndParse(const std::vector<uint8_t> & data);
+
   /// @brief Send a PTC request with an optional payload, and return the full response payload.
   /// Blocking.
   /// @param command_id PTC command number.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 3ce70dd1f..efd7dcf80 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -261,117 +261,66 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagStatus)) {
-    throw std::runtime_error("HesaiPtpDiagStatus has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagStatus)) {
-    PrintError("HesaiPtpDiagStatus from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagStatus hesai_ptp_diag_status;
-  memcpy(&hesai_ptp_diag_status, response.data(), sizeof(HesaiPtpDiagStatus));
+  auto diag_status = CheckSizeAndParse<HesaiPtpDiagStatus>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagStatus: " << hesai_ptp_diag_status;
+  ss << "HesaiHwInterface::GetPtpDiagStatus: " << diag_status;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_status;
+  return diag_status;
 }
 
 HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagPort)) {
-    throw std::runtime_error("HesaiPtpDiagPort has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagPort)) {
-    PrintError("HesaiPtpDiagPort from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagPort hesai_ptp_diag_port;
-  memcpy(&hesai_ptp_diag_port, response.data(), sizeof(HesaiPtpDiagPort));
+  auto diag_port = CheckSizeAndParse<HesaiPtpDiagPort>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagPort: " << hesai_ptp_diag_port;
+  ss << "HesaiHwInterface::GetPtpDiagPort: " << diag_port;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_port;
+  return diag_port;
 }
 
 HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagTime)) {
-    throw std::runtime_error("HesaiPtpDiagTime has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagTime)) {
-    PrintError("HesaiPtpDiagTime from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagTime hesai_ptp_diag_time;
-  memcpy(&hesai_ptp_diag_time, response.data(), sizeof(HesaiPtpDiagTime));
+  auto diag_time = CheckSizeAndParse<HesaiPtpDiagTime>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagTime: " << hesai_ptp_diag_time;
+  ss << "HesaiHwInterface::GetPtpDiagTime: " << diag_time;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_time;
+  return diag_time;
 }
 
 HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagGrandmaster)) {
-    throw std::runtime_error("HesaiPtpDiagGrandmaster has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagGrandmaster)) {
-    PrintError("HesaiPtpDiagGrandmaster from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagGrandmaster hesai_ptp_diag_grandmaster;
-  memcpy(&hesai_ptp_diag_grandmaster, response.data(), sizeof(HesaiPtpDiagGrandmaster));
+  auto diag_grandmaster = CheckSizeAndParse<HesaiPtpDiagGrandmaster>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagGrandmaster: " << hesai_ptp_diag_grandmaster;
+  ss << "HesaiHwInterface::GetPtpDiagGrandmaster: " << diag_grandmaster;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_grandmaster;
+  return diag_grandmaster;
 }
 
 HesaiInventory HesaiHwInterface::GetInventory()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_INVENTORY_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiInventory)) {
-    throw std::runtime_error("HesaiInventory has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiInventory)) {
-    PrintError("HesaiInventory from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiInventory hesai_inventory;
-  memcpy(&hesai_inventory, response.data(), sizeof(HesaiInventory));
-
-  return hesai_inventory;
+  return CheckSizeAndParse<HesaiInventory>(response);
 }
 
 HesaiConfig HesaiHwInterface::GetConfig()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiConfig)) {
-    throw std::runtime_error("HesaiConfig has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiConfig)) {
-    PrintError("HesaiConfig from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiConfig hesai_config;
-  memcpy(&hesai_config, response.data(), sizeof(HesaiConfig));
-
+  auto hesai_config = CheckSizeAndParse<HesaiConfig>(response);
   std::cout << "Config: " << hesai_config << std::endl;
   return hesai_config;
 }
@@ -380,17 +329,7 @@ HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiLidarStatus)) {
-    throw std::runtime_error("HesaiLidarStatus has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiLidarStatus)) {
-    PrintError("HesaiLidarStatus from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiLidarStatus hesai_status;
-  memcpy(&hesai_status, response.data(), sizeof(HesaiLidarStatus));
-
-  return hesai_status;
+  return CheckSizeAndParse<HesaiLidarStatus>(response);
 }
 
 Status HesaiHwInterface::SetSpinRate(uint16_t rpm)
@@ -642,17 +581,7 @@ HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiLidarMonitor)) {
-    throw std::runtime_error("HesaiLidarMonitor has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiLidarMonitor)) {
-    PrintError("HesaiLidarMonitor from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiLidarMonitor hesai_lidar_monitor;
-  memcpy(&hesai_lidar_monitor, response.data(), sizeof(HesaiLidarMonitor));
-
-  return hesai_lidar_monitor;
+  return CheckSizeAndParse<HesaiLidarMonitor>(response);
 }
 
 void HesaiHwInterface::IOContextRun()
@@ -1324,5 +1253,18 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
   return ss.str();
 }
 
+template <typename T>
+T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data) {
+  if (data.size() < sizeof(T)) {
+    throw std::runtime_error("Attempted to parse too-small payload");
+  } else if (data.size() > sizeof(T)) {
+    PrintError("Sensor returned longer payload than expected. Will parse anyway.");
+  }
+
+  T parsed;
+  memcpy(&parsed, data.data(), sizeof(T));
+  return parsed;
+}
+
 }  // namespace drivers
 }  // namespace nebula

From 8a11d98674588736c5a6d4f60c4a1f85682b77ed Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 13:20:08 +0900
Subject: [PATCH 046/122] fix(hesai_launch_all_hw.xml): set valid RPM when
 AT128 is selected

---
 nebula_ros/launch/hesai_launch_all_hw.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index 1bd285766..b0f804441 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,6 +33,8 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
+    <let name="rotation_speed" value="200" if="$(eval '\'$(var sensor_model)\' == \'PandarAT128\'')"/>
+
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container" 
         output="screen" ros_args="--log-level $(var debug_level)" namespace="">
         <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"

From 657fac7af125937cdd153209d7b7ee368a63a391 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 13:20:49 +0900
Subject: [PATCH 047/122] refactor(hesai_decoder): remove redundant arguments
 for correction/calibration

---
 .../decoders/angle_corrector.hpp              | 12 +---
 .../angle_corrector_calibration_based.hpp     |  6 +-
 .../angle_corrector_correction_based.hpp      | 27 +++++----
 .../decoders/hesai_decoder.hpp                | 10 +---
 .../nebula_decoders_hesai/hesai_driver.hpp    | 22 ++++++--
 .../nebula_decoders_hesai/hesai_driver.cpp    | 56 +++++++++----------
 6 files changed, 63 insertions(+), 70 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
index 121913c34..914d2da49 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
@@ -23,19 +23,11 @@ struct CorrectedAngleData
 
 /// @brief Handles angle correction for given azimuth/channel combinations, as well as trigonometry
 /// lookup tables
+template <typename CorrectionDataT>
 class AngleCorrector
 {
-protected:
-  const std::shared_ptr<const HesaiCalibrationConfiguration> sensor_calibration_;
-  const std::shared_ptr<const HesaiCorrection> sensor_correction_;
-
 public:
-  AngleCorrector(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : sensor_calibration_(sensor_calibration), sensor_correction_(sensor_correction)
-  {
-  }
+  using correction_data_t = CorrectionDataT;
 
   /// @brief Get the corrected azimuth and elevation for a given block and channel, along with their
   /// sin/cos values.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
index bee570afc..d2c078e2d 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
@@ -11,7 +11,7 @@ namespace drivers
 {
 
 template <size_t ChannelN, size_t AngleUnit>
-class AngleCorrectorCalibrationBased : public AngleCorrector
+class AngleCorrectorCalibrationBased : public AngleCorrector<HesaiCalibrationConfiguration>
 {
 private:
   static constexpr size_t MAX_AZIMUTH_LEN = 360 * AngleUnit;
@@ -27,9 +27,7 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
 
 public:
   AngleCorrectorCalibrationBased(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : AngleCorrector(sensor_calibration, sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration)
   {
     if (sensor_calibration == nullptr) {
       throw std::runtime_error(
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
index d23dfc1f2..52cbaf315 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
@@ -13,10 +13,11 @@ namespace drivers
 {
 
 template <size_t ChannelN, size_t AngleUnit>
-class AngleCorrectorCorrectionBased : public AngleCorrector
+class AngleCorrectorCorrectionBased : public AngleCorrector<HesaiCorrection>
 {
 private:
   static constexpr size_t MAX_AZIMUTH_LENGTH = 360 * AngleUnit;
+  const std::shared_ptr<const HesaiCorrection> correction_;
   rclcpp::Logger logger_;
 
   std::array<float, MAX_AZIMUTH_LENGTH> cos_{};
@@ -31,26 +32,25 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
     // * none of the startFrames are defined as > 360 deg (< 0 not possible since they are unsigned)
     // * the fields are arranged in ascending order (e.g. field 1: 20-140deg, field 2: 140-260deg etc.)
     // These assumptions hold for AT128E2X.
-    int field = sensor_correction_->frameNumber - 1;
-    for (size_t i = 0; i < sensor_correction_->frameNumber; ++i) {
-      if (azimuth < sensor_correction_->startFrame[i]) return field;
+    int field = correction_->frameNumber - 1;
+    for (size_t i = 0; i < correction_->frameNumber; ++i) {
+      if (azimuth < correction_->startFrame[i]) return field;
       field = i;
     }
 
-    // This is never reached if sensor_correction_ is correct
+    // This is never reached if correction_ is correct
     return field;
   }
 
 public:
   AngleCorrectorCorrectionBased(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
     const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : AngleCorrector(sensor_calibration, sensor_correction),
+  : correction_(sensor_correction),
     logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
   {
     if (sensor_correction == nullptr) {
       throw std::runtime_error(
-        "Cannot instantiate AngleCorrectorCalibrationBased without calibration data");
+        "Cannot instantiate AngleCorrectorCorrectionBased without correction data");
     }
 
     logger_.set_level(rclcpp::Logger::Level::Debug);
@@ -64,17 +64,16 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
 
   CorrectedAngleData getCorrectedAngleData(uint32_t block_azimuth, uint32_t channel_id) override
   {
-    const auto & correction = AngleCorrector::sensor_correction_;
     int field = findField(block_azimuth);
 
     auto elevation =
-      correction->elevation[channel_id] +
-      correction->getElevationAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
+      correction_->elevation[channel_id] +
+      correction_->getElevationAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
     elevation = (MAX_AZIMUTH_LENGTH + elevation) % MAX_AZIMUTH_LENGTH;
 
-    auto azimuth = (block_azimuth + MAX_AZIMUTH_LENGTH - correction->startFrame[field]) * 2 -
-                   correction->azimuth[channel_id] +
-                   correction->getAzimuthAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
+    auto azimuth = (block_azimuth + MAX_AZIMUTH_LENGTH - correction_->startFrame[field]) * 2 -
+                   correction_->azimuth[channel_id] +
+                   correction_->getAzimuthAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
     azimuth = (MAX_AZIMUTH_LENGTH + azimuth) % MAX_AZIMUTH_LENGTH;
 
     float azimuth_rad = 2.f * azimuth * M_PI / MAX_AZIMUTH_LENGTH;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index e8a9afc34..ea5dbe727 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -204,16 +204,12 @@ class HesaiDecoder : public HesaiScanDecoder
 public:
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this decoder
-  /// @param calibration_configuration Calibration for this decoder (can be nullptr if
-  /// correction_configuration is set)
-  /// @param correction_configuration Correction for this decoder (can be nullptr if
-  /// calibration_configuration is set)
+  /// @param correction_data Calibration data for this decoder
   explicit HesaiDecoder(
     const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<const HesaiCorrection> & correction_configuration)
+    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> & correction_data)
   : sensor_configuration_(sensor_configuration),
-    angle_corrector_(calibration_configuration, correction_configuration),
+    angle_corrector_(correction_data),
     logger_(rclcpp::get_logger("HesaiDecoder"))
   {
     logger_.set_level(rclcpp::Logger::Level::Debug);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index 87798dbd1..099e022c5 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -16,6 +16,7 @@
 #include <iostream>
 #include <stdexcept>
 #include <string>
+#include <memory>
 
 namespace nebula
 {
@@ -30,15 +31,22 @@ class HesaiDriver
   /// @brief Decoder according to the model
   std::shared_ptr<HesaiScanDecoder> scan_decoder_;
 
+  template <typename SensorT>
+  std::shared_ptr<HesaiScanDecoder> InitializeDecoder(
+    const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+      calibration_configuration);
+
 public:
   HesaiDriver() = delete;
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
-  /// for sensors other than AT128 or HesaiCorrection for AT128)
+  /// @param calibration_configuration CalibrationConfiguration for this driver (either
+  /// HesaiCalibrationConfiguration for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-      const std::shared_ptr<const drivers::HesaiSensorConfiguration>& sensor_configuration,
-      const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase>& calibration_configuration = nullptr);
+    const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+      calibration_configuration);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -47,12 +55,14 @@ class HesaiDriver
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(const HesaiCalibrationConfigurationBase& calibration_configuration);
+  Status SetCalibrationConfiguration(
+    const HesaiCalibrationConfigurationBase & calibration_configuration);
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(const std::vector<uint8_t>& packet);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
+    const std::vector<uint8_t> & packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index beafd8e71..c8aea2b40 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,64 +17,62 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(const std::shared_ptr<const HesaiSensorConfiguration>& sensor_configuration,
-                         const std::shared_ptr<const HesaiCalibrationConfigurationBase>& calibration_configuration)
+HesaiDriver::HesaiDriver(
+  const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const HesaiCalibrationConfigurationBase> & calibration_data)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
 
-  std::shared_ptr<const HesaiCalibrationConfiguration> calibration = nullptr;
-  std::shared_ptr<const HesaiCorrection> correction = nullptr;
-
-  if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
-  {
-    correction = std::static_pointer_cast<const HesaiCorrection>(calibration_configuration);
-  }
-  else
-  {
-    calibration = std::static_pointer_cast<const HesaiCalibrationConfiguration>(calibration_configuration);
-  }
-
-  switch (sensor_configuration->sensor_model)
-  {
-    case SensorModel::UNKNOWN:
-      driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
-      break;
+  switch (sensor_configuration->sensor_model) {
     case SensorModel::HESAI_PANDAR64:
-      scan_decoder_.reset(new HesaiDecoder<Pandar64>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar64>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR40P:
     case SensorModel::HESAI_PANDAR40M:
-      scan_decoder_.reset(new HesaiDecoder<Pandar40>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar40>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARQT64:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarQT64>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARQT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarQT128>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARXT32:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarXT32>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARXT32M:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarXT32M>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARAT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarAT128>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR128_E3X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar128E3X>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR128_E4X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar128E4X>(sensor_configuration, calibration_data);
       break;
+    case SensorModel::UNKNOWN:
+      driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
+      throw std::runtime_error("Invalid sensor model.");
     default:
       driver_status_ = nebula::Status::NOT_INITIALIZED;
       throw std::runtime_error("Driver not Implemented for selected sensor.");
-      break;
   }
 }
 
+template <typename SensorT>
+std::shared_ptr<HesaiScanDecoder> HesaiDriver::InitializeDecoder(
+  const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+    calibration_configuration)
+{
+  using CalibT = typename SensorT::angle_corrector_t::correction_data_t;
+  return std::make_shared<HesaiDecoder<SensorT>>(
+    sensor_configuration, std::dynamic_pointer_cast<const CalibT>(calibration_configuration));
+}
+
 std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
   const std::vector<uint8_t> & packet)
 {

From 74388c97b77663cf0cf8ae3d4d5fb2ef48a73182 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Sat, 11 May 2024 20:18:09 +0900
Subject: [PATCH 048/122] refactor(nebula_ros): move mt_queue to common

---
 nebula_ros/include/nebula_ros/{hesai => common}/mt_queue.hpp | 0
 nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp    | 2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename nebula_ros/include/nebula_ros/{hesai => common}/mt_queue.hpp (100%)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/common/mt_queue.hpp
similarity index 100%
rename from nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
rename to nebula_ros/include/nebula_ros/common/mt_queue.hpp
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 42d8bdc36..ed76343c7 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -9,7 +9,7 @@
 #include "nebula_ros/hesai/decoder_wrapper.hpp"
 #include "nebula_ros/hesai/hw_interface_wrapper.hpp"
 #include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
-#include "nebula_ros/hesai/mt_queue.hpp"
+#include "nebula_ros/common/mt_queue.hpp"
 #include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>

From 8aeca9b613779327ccfd6641dcc82f0b675a47c3 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 16 May 2024 18:18:27 +0900
Subject: [PATCH 049/122] refactor(velodyne)!: unify wrapper nodes. Currently
 WIP but compiling

---
 .../decoders/velodyne_scan_decoder.hpp        |   31 +-
 .../decoders/vlp16_decoder.hpp                |    9 +-
 .../decoders/vlp32_decoder.hpp                |    9 +-
 .../decoders/vls128_decoder.hpp               |    9 +-
 .../velodyne_driver.hpp                       |    8 +-
 .../decoders/vlp16_decoder.cpp                |   19 +-
 .../decoders/vlp32_decoder.cpp                |   17 +-
 .../decoders/vls128_decoder.cpp               |   19 +-
 .../velodyne_driver.cpp                       |   30 +-
 .../velodyne_hw_interface.hpp                 |   53 +-
 .../velodyne_hw_interface.cpp                 |   72 +-
 nebula_ros/CMakeLists.txt                     |   33 +-
 .../nebula_ros/velodyne/decoder_wrapper.hpp   |   91 ++
 .../velodyne/hw_interface_wrapper.hpp         |   35 +
 ...ros_wrapper.hpp => hw_monitor_wrapper.hpp} |  333 +++---
 .../velodyne/velodyne_decoder_ros_wrapper.hpp |   83 --
 .../velodyne_hw_interface_ros_wrapper.hpp     |  202 ----
 .../velodyne/velodyne_ros_wrapper.hpp         |   90 ++
 nebula_ros/src/velodyne/decoder_wrapper.cpp   |  242 ++++
 .../src/velodyne/hw_interface_wrapper.cpp     |   55 +
 ...ros_wrapper.cpp => hw_monitor_wrapper.cpp} | 1043 +++++------------
 .../velodyne/velodyne_decoder_ros_wrapper.cpp |  281 -----
 .../velodyne_hw_interface_ros_wrapper.cpp     |  326 ------
 .../src/velodyne/velodyne_ros_wrapper.cpp     |  265 +++++
 24 files changed, 1336 insertions(+), 2019 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/velodyne/decoder_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp
 rename nebula_ros/include/nebula_ros/velodyne/{velodyne_hw_monitor_ros_wrapper.hpp => hw_monitor_wrapper.hpp} (69%)
 delete mode 100644 nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
 delete mode 100644 nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/velodyne/velodyne_ros_wrapper.hpp
 create mode 100644 nebula_ros/src/velodyne/decoder_wrapper.cpp
 create mode 100644 nebula_ros/src/velodyne/hw_interface_wrapper.cpp
 rename nebula_ros/src/velodyne/{velodyne_hw_monitor_ros_wrapper.cpp => hw_monitor_wrapper.cpp} (55%)
 delete mode 100644 nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
 delete mode 100644 nebula_ros/src/velodyne/velodyne_hw_interface_ros_wrapper.cpp
 create mode 100644 nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index 7c319e0fe..8c35f105f 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -20,6 +20,7 @@
 #include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <tuple>
+#include <angles/angles.h> 
 
 namespace nebula
 {
@@ -138,17 +139,14 @@ class VelodyneScanDecoder
   /// @brief Point cloud overflowing from one cycle
   drivers::NebulaPointCloudPtr overflow_pc_;
 
-  uint16_t scan_phase_{};
-  uint16_t last_phase_{};
-  bool has_scanned_ = true;
   double dual_return_distance_threshold_{};  // Velodyne does this internally, this will not be
                                              // implemented here
   double scan_timestamp_{};
 
   /// @brief SensorConfiguration for this decoder
-  std::shared_ptr<drivers::VelodyneSensorConfiguration> sensor_configuration_;
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration_;
   /// @brief Calibration for this decoder
-  std::shared_ptr<drivers::VelodyneCalibrationConfiguration> calibration_configuration_;
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration_;
 
 public:
   VelodyneScanDecoder(VelodyneScanDecoder && c) = delete;
@@ -161,7 +159,7 @@ class VelodyneScanDecoder
 
   /// @brief Virtual function for parsing and shaping VelodynePacket
   /// @param pandar_packet
-  virtual void unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet) = 0;
+  virtual void unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds) = 0;
   /// @brief Virtual function for parsing VelodynePacket based on packet structure
   /// @param pandar_packet
   /// @return Resulting flag
@@ -169,7 +167,26 @@ class VelodyneScanDecoder
 
   /// @brief Virtual function for getting the flag indicating whether one cycle is ready
   /// @return Readied
-  virtual bool hasScanned() = 0;
+  virtual bool hasScanned() {
+    if (scan_pc_->size() < 2) {
+      return false;
+    }
+
+    float scan_phase = angles::from_degrees(sensor_configuration_->scan_phase);
+    float first_azimuth = scan_pc_->points.front().azimuth - scan_phase;
+    float last_azimuth = scan_pc_->points.back().azimuth - scan_phase;
+
+    if (first_azimuth < 0) {
+      first_azimuth += 2 * M_PI;
+    }
+
+    if (last_azimuth < 0) {
+      last_azimuth += 2 * M_PI;
+    }
+
+    return first_azimuth > last_azimuth;
+  }
+
   /// @brief Calculation of points in each packet
   /// @return # of points
   virtual int pointsPerPacket() = 0;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
index 730f7045f..3829a2d70 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
@@ -25,14 +25,11 @@ class Vlp16Decoder : public VelodyneScanDecoder
   /// @param sensor_configuration SensorConfiguration for this decoder
   /// @param calibration_configuration Calibration for this decoder
   explicit Vlp16Decoder(
-    const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
+    const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
   /// @brief Parsing and shaping VelodynePacket
   /// @param velodyne_packet
-  void unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet) override;
-  /// @brief Get the flag indicating whether one cycle is ready
-  /// @return Readied
-  bool hasScanned() override;
+  void unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds) override;
   /// @brief Calculation of points in each packet
   /// @return # of points
   int pointsPerPacket() override;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
index 0ffa1e3ce..04160ab19 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
@@ -24,14 +24,11 @@ class Vlp32Decoder : public VelodyneScanDecoder
   /// @param sensor_configuration SensorConfiguration for this decoder
   /// @param calibration_configuration Calibration for this decoder
   explicit Vlp32Decoder(
-    const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
+    const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
   /// @brief Parsing and shaping VelodynePacket
   /// @param velodyne_packet
-  void unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet) override;
-  /// @brief Get the flag indicating whether one cycle is ready
-  /// @return Readied
-  bool hasScanned() override;
+  void unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds) override;
   /// @brief Calculation of points in each packet
   /// @return # of points
   int pointsPerPacket() override;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
index e440096e9..0626e2e47 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
@@ -21,14 +21,11 @@ class Vls128Decoder : public VelodyneScanDecoder
   /// @param sensor_configuration SensorConfiguration for this decoder
   /// @param calibration_configuration Calibration for this decoder
   explicit Vls128Decoder(
-    const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
+    const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
   /// @brief Parsing and shaping VelodynePacket
   /// @param velodyne_packet
-  void unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet) override;
-  /// @brief Get the flag indicating whether one cycle is ready
-  /// @return Readied
-  bool hasScanned() override;
+  void unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds) override;
   /// @brief Calculation of points in each packet
   /// @return # of points
   int pointsPerPacket() override;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
index d0257b82d..c5caf00b8 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp
@@ -36,8 +36,8 @@ class VelodyneDriver : NebulaDriverBase
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
   VelodyneDriver(
-    const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
+    const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration);
 
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
@@ -52,8 +52,8 @@ class VelodyneDriver : NebulaDriverBase
   /// @brief Convert VelodyneScan message to point cloud
   /// @param velodyne_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ConvertScanToPointcloud(
-    const std::shared_ptr<velodyne_msgs::msg::VelodyneScan> & velodyne_scan);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
+    const std::vector<uint8_t> & packet, int32_t packet_seconds);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
index 338163d60..02bed010e 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -12,8 +12,8 @@ namespace drivers
 namespace vlp16
 {
 Vlp16Decoder::Vlp16Decoder(
-  const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
+  const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
 {
   sensor_configuration_ = sensor_configuration;
   calibration_configuration_ = calibration_configuration;
@@ -56,11 +56,6 @@ Vlp16Decoder::Vlp16Decoder(
   phase_ = (uint16_t)round(sensor_configuration_->scan_phase * 100);
 }
 
-bool Vlp16Decoder::hasScanned()
-{
-  return has_scanned_;
-}
-
 std::tuple<drivers::NebulaPointCloudPtr, double> Vlp16Decoder::get_pointcloud()
 {
   double phase = angles::from_degrees(sensor_configuration_->scan_phase);
@@ -138,12 +133,12 @@ void Vlp16Decoder::reset_overflow(double time_stamp)
   overflow_pc_->points.reserve(max_pts_);
 }
 
-void Vlp16Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet)
+void Vlp16Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
-  const raw_packet_t * raw = (const raw_packet_t *)&velodyne_packet.data[0];
+  const raw_packet_t * raw = (const raw_packet_t *)packet.data();
   float last_azimuth_diff = 0;
   uint16_t azimuth_next;
-  const uint8_t return_mode = velodyne_packet.data[RETURN_MODE_INDEX];
+  const uint8_t return_mode = packet[RETURN_MODE_INDEX];
   const bool dual_return = (return_mode == RETURN_MODE_DUAL);
 
   for (uint block = 0; block < BLOCKS_PER_PACKET; block++) {
@@ -203,7 +198,7 @@ void Vlp16Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
               block % 2 ? raw->blocks[block - 1].data[k + 1] : raw->blocks[block + 1].data[k + 1];
           }
           // Apply timestamp if this is the first new packet in the scan.
-          auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
+          auto block_timestamp = packet_seconds;
           if (scan_timestamp_ < 0) {
             scan_timestamp_ = block_timestamp;
           }
@@ -216,7 +211,7 @@ void Vlp16Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
             continue;
           }
           {
-            VelodyneLaserCorrection & corrections =
+            const VelodyneLaserCorrection & corrections =
               calibration_configuration_->velodyne_calibration.laser_corrections[dsr];
             float distance = current_return.uint *
                              calibration_configuration_->velodyne_calibration.distance_resolution_m;
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
index ec3e06745..4c06faf87 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -12,8 +12,8 @@ namespace drivers
 namespace vlp32
 {
 Vlp32Decoder::Vlp32Decoder(
-  const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
+  const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
 {
   sensor_configuration_ = sensor_configuration;
   calibration_configuration_ = calibration_configuration;
@@ -56,11 +56,6 @@ Vlp32Decoder::Vlp32Decoder(
   }
 }
 
-bool Vlp32Decoder::hasScanned()
-{
-  return has_scanned_;
-}
-
 std::tuple<drivers::NebulaPointCloudPtr, double> Vlp32Decoder::get_pointcloud()
 {
   double phase = angles::from_degrees(sensor_configuration_->scan_phase);
@@ -137,10 +132,10 @@ void Vlp32Decoder::reset_overflow(double time_stamp)
   overflow_pc_->points.reserve(max_pts_);
 }
 
-void Vlp32Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet)
+void Vlp32Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
-  const raw_packet_t * raw = (const raw_packet_t *)&velodyne_packet.data[0];
-  uint8_t return_mode = velodyne_packet.data[RETURN_MODE_INDEX];
+  const raw_packet_t * raw = (const raw_packet_t *)packet.data();
+  uint8_t return_mode = packet[RETURN_MODE_INDEX];
   const bool dual_return = (return_mode == RETURN_MODE_DUAL);
 
   for (int i = 0; i < BLOCKS_PER_PACKET; i++) {
@@ -170,7 +165,7 @@ void Vlp32Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
           i % 2 ? raw->blocks[i - 1].data[k + 1] : raw->blocks[i + 1].data[k + 1];
       }
       // Apply timestamp if this is the first new packet in the scan.
-      auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
+      auto block_timestamp = packet_seconds;
       if (scan_timestamp_ < 0) {
         scan_timestamp_ = block_timestamp;
       }
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
index c42f9b0b5..8992b537e 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -12,8 +12,8 @@ namespace drivers
 namespace vls128
 {
 Vls128Decoder::Vls128Decoder(
-  const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
+  const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
 {
   sensor_configuration_ = sensor_configuration;
   calibration_configuration_ = calibration_configuration;
@@ -56,11 +56,6 @@ Vls128Decoder::Vls128Decoder(
   }
 }
 
-bool Vls128Decoder::hasScanned()
-{
-  return has_scanned_;
-}
-
 std::tuple<drivers::NebulaPointCloudPtr, double> Vls128Decoder::get_pointcloud()
 {
   double phase = angles::from_degrees(sensor_configuration_->scan_phase);
@@ -139,12 +134,12 @@ void Vls128Decoder::reset_overflow(double time_stamp)
   overflow_pc_->points.reserve(max_pts_);
 }
 
-void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_packet)
+void Vls128Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
-  const raw_packet_t * raw = (const raw_packet_t *)&velodyne_packet.data[0];
+  const raw_packet_t * raw = (const raw_packet_t *)packet.data();
   float last_azimuth_diff = 0;
   uint16_t azimuth_next;
-  const uint8_t return_mode = velodyne_packet.data[RETURN_MODE_INDEX];
+  const uint8_t return_mode = packet[RETURN_MODE_INDEX];
   const bool dual_return = (return_mode == RETURN_MODE_DUAL);
 
   for (uint block = 0; block < static_cast<uint>(BLOCKS_PER_PACKET - (4 * dual_return)); block++) {
@@ -223,7 +218,7 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
             block % 2 ? raw->blocks[block - 1].data[k + 1] : raw->blocks[block + 1].data[k + 1];
         }
         // Apply timestamp if this is the first new packet in the scan.
-        auto block_timestamp = rclcpp::Time(velodyne_packet.stamp).seconds();
+        auto block_timestamp = packet_seconds;
         if (scan_timestamp_ < 0) {
           scan_timestamp_ = block_timestamp;
         }
@@ -240,7 +235,7 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
             j + bank_origin;  // offset the laser in this block by which block it's in
           const uint firing_order = laser_number / 8;  // VLS-128 fires 8 lasers at a time
 
-          VelodyneLaserCorrection & corrections =
+          const VelodyneLaserCorrection & corrections =
             calibration_configuration_->velodyne_calibration.laser_corrections[laser_number];
 
           float distance = current_return.uint * VLP128_DISTANCE_RESOLUTION;
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp b/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
index b0f664c8c..07569b8d9 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
@@ -9,8 +9,8 @@ namespace nebula
 namespace drivers
 {
 VelodyneDriver::VelodyneDriver(
-  const std::shared_ptr<drivers::VelodyneSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
+  const std::shared_ptr<const drivers::VelodyneSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> & calibration_configuration)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
@@ -46,20 +46,24 @@ Status VelodyneDriver::SetCalibrationConfiguration(
     calibration_configuration.calibration_file + ")");
 }
 
-std::tuple<drivers::NebulaPointCloudPtr, double> VelodyneDriver::ConvertScanToPointcloud(
-  const std::shared_ptr<velodyne_msgs::msg::VelodyneScan> & velodyne_scan)
+std::tuple<drivers::NebulaPointCloudPtr, double> VelodyneDriver::ParseCloudPacket(
+  const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
-  if (driver_status_ == nebula::Status::OK) {
-    scan_decoder_->reset_pointcloud(
-      velodyne_scan->packets.size(), rclcpp::Time(velodyne_scan->packets.front().stamp).seconds());
-    for (auto & packet : velodyne_scan->packets) {
-      scan_decoder_->unpack(packet);
-    }
-    pointcloud = scan_decoder_->get_pointcloud();
-  } else {
-    std::cout << "not ok driver_status_ = " << driver_status_ << std::endl;
+
+  if (driver_status_ != nebula::Status::OK)
+  {
+    auto logger = rclcpp::get_logger("VelodyneDriver");
+    RCLCPP_ERROR(logger, "Driver not OK.");
+    return pointcloud;
   }
+
+  scan_decoder_->unpack(packet, packet_seconds);
+  if (scan_decoder_->hasScanned())
+  {
+    pointcloud = scan_decoder_->get_pointcloud();
+  }  
+
   return pointcloud;
 }
 Status VelodyneDriver::GetStatus()
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
index fcb907a15..4c7971b2d 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
@@ -11,16 +11,15 @@
 #if (BOOST_VERSION / 100 == 1074)  // Boost 1.74
 #define BOOST_ALLOW_DEPRECATED_HEADERS
 #endif
-#include "boost_tcp_driver/http_client_driver.hpp"
-#include "boost_udp_driver/udp_driver.hpp"
-#include "nebula_common/velodyne/velodyne_common.hpp"
-#include "nebula_common/velodyne/velodyne_status.hpp"
+
 #include "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <boost_tcp_driver/http_client_driver.hpp>
+#include <boost_udp_driver/udp_driver.hpp>
+#include <nebula_common/velodyne/velodyne_common.hpp>
+#include <nebula_common/velodyne/velodyne_status.hpp>
 
-#include <velodyne_msgs/msg/velodyne_packet.hpp>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <boost/property_tree/json_parser.hpp>
 #include <boost/property_tree/ptree.hpp>
@@ -32,26 +31,14 @@ namespace nebula
 namespace drivers
 {
 /// @brief Hardware interface of velodyne driver
-class VelodyneHwInterface : NebulaHwInterfaceBase
+class VelodyneHwInterface
 {
 private:
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
-  std::shared_ptr<VelodyneSensorConfiguration> sensor_configuration_;
-  std::shared_ptr<VelodyneCalibrationConfiguration> calibration_configuration_;
-  std::unique_ptr<velodyne_msgs::msg::VelodyneScan> scan_cloud_ptr_;
-  std::function<bool(size_t)>
-    is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
-  std::function<void(std::unique_ptr<velodyne_msgs::msg::VelodyneScan> buffer)>
-    scan_reception_callback_; /**This function pointer is called when the scan is complete*/
-
-  uint16_t packet_first_azm_ = 0;
-  uint16_t packet_first_azm_phased_ = 0;
-  uint16_t packet_last_azm_ = 0;
-  uint16_t packet_last_azm_phased_ = 0;
-  uint16_t prev_packet_first_azm_phased_ = 0;
-  uint16_t phase_ = 0;
-  uint processed_packets_ = 0;
+  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration_;
+  std::function<void(std::vector<uint8_t>&)>
+    cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   std::shared_ptr<boost::asio::io_context> boost_ctx_;
   std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> http_client_driver_;
@@ -86,7 +73,7 @@ class VelodyneHwInterface : NebulaHwInterfaceBase
   /// @param tree Current settings (property_tree)
   /// @return Resulting status
   VelodyneStatus CheckAndSetConfig(
-    std::shared_ptr<VelodyneSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration,
     boost::property_tree::ptree tree);
 
   std::shared_ptr<rclcpp::Logger> parent_node_logger;
@@ -106,38 +93,38 @@ class VelodyneHwInterface : NebulaHwInterfaceBase
 
   /// @brief Callback function to receive the Cloud Packet data from the UDP Driver
   /// @param buffer Buffer containing the data received from the UDP socket
-  void ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer) final;
+  void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
   /// @brief Starting the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStart() final;
+  Status SensorInterfaceStart();
   /// @brief Function for stopping the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStop() final;
+  Status SensorInterfaceStop();
   /// @brief Printing sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
-  Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration) final;
+  Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration);
   /// @brief Printing calibration configuration
   /// @param calibration_configuration CalibrationConfiguration for the checking
   /// @return Resulting status
   Status GetCalibrationConfiguration(
-    CalibrationConfigurationBase & calibration_configuration) final;
+    CalibrationConfigurationBase & calibration_configuration);
   /// @brief Initializing sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
   Status InitializeSensorConfiguration(
-    std::shared_ptr<SensorConfigurationBase> sensor_configuration);
+    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
   /// @brief Setting sensor configuration with InitializeSensorConfiguration &
   /// CheckAndSetConfigBySnapshotAsync
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
   Status SetSensorConfiguration(
-    std::shared_ptr<SensorConfigurationBase> sensor_configuration) final;
+    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
   /// @brief Registering callback for PandarScan
   /// @param scan_callback Callback function
   /// @return Resulting status
   Status RegisterScanCallback(
-    std::function<void(std::unique_ptr<velodyne_msgs::msg::VelodyneScan>)> scan_callback);
+    std::function<void(std::vector<uint8_t>& packet)> scan_callback);
 
   /// @brief Parsing JSON string to property_tree
   /// @param str JSON string
@@ -244,7 +231,7 @@ class VelodyneHwInterface : NebulaHwInterfaceBase
   /// @brief Checking the current settings and changing the difference point
   /// @return Resulting status
   VelodyneStatus CheckAndSetConfigBySnapshotAsync(
-    std::shared_ptr<VelodyneSensorConfiguration> sensor_configuration);
+    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
   /// @brief Setting Motor RPM (async)
   /// @param rpm the RPM of the motor
   /// @return Resulting status
diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
index 8a8bfefbe..f31bb413b 100644
--- a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -7,18 +7,15 @@ namespace drivers
 VelodyneHwInterface::VelodyneHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
   cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)},
-  scan_cloud_ptr_{std::make_unique<velodyne_msgs::msg::VelodyneScan>()},
   boost_ctx_{new boost::asio::io_context()},
   http_client_driver_{new ::drivers::tcp_driver::HttpClientDriver(boost_ctx_)}
 {
 }
 
 Status VelodyneHwInterface::InitializeSensorConfiguration(
-  std::shared_ptr<SensorConfigurationBase> sensor_configuration)
+  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
 {
-  sensor_configuration_ =
-    std::static_pointer_cast<VelodyneSensorConfiguration>(sensor_configuration);
-  phase_ = (uint16_t)round(sensor_configuration_->scan_phase * 100);
+  sensor_configuration_ = sensor_configuration;
 
   GetDiagAsync();
   GetStatusAsync();
@@ -27,10 +24,9 @@ Status VelodyneHwInterface::InitializeSensorConfiguration(
 }
 
 Status VelodyneHwInterface::SetSensorConfiguration(
-  std::shared_ptr<SensorConfigurationBase> sensor_configuration)
+  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
 {
-  auto velodyne_sensor_configuration =
-    std::static_pointer_cast<VelodyneSensorConfiguration>(sensor_configuration);
+  auto velodyne_sensor_configuration = sensor_configuration;
   VelodyneStatus status = CheckAndSetConfigBySnapshotAsync(velodyne_sensor_configuration);
   Status rt = status;
   return rt;
@@ -55,49 +51,19 @@ Status VelodyneHwInterface::SensorInterfaceStart()
 }
 
 Status VelodyneHwInterface::RegisterScanCallback(
-  std::function<void(std::unique_ptr<velodyne_msgs::msg::VelodyneScan>)> scan_callback)
+  std::function<void(std::vector<uint8_t>& packet)> scan_callback)
 {
-  scan_reception_callback_ = std::move(scan_callback);
+  cloud_packet_callback_ = std::move(scan_callback);
   return Status::OK;
 }
 
-void VelodyneHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
-{
-  // Process current packet
-  const uint32_t buffer_size = buffer.size();
-  velodyne_msgs::msg::VelodynePacket velodyne_packet;
-  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, velodyne_packet.data.begin());
-  auto now = std::chrono::system_clock::now();
-  auto now_secs = std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count();
-  auto now_nanosecs =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-  velodyne_packet.stamp.sec = static_cast<int>(now_secs);
-  velodyne_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1'000'000'000);
-  scan_cloud_ptr_->packets.emplace_back(velodyne_packet);
-  processed_packets_++;
-
-  // Check if scan is complete
-  packet_first_azm_ = scan_cloud_ptr_->packets.back().data[2];  // lower word of azimuth block 0
-  packet_first_azm_ |= scan_cloud_ptr_->packets.back().data[3]
-                       << 8;  // higher word of azimuth block 0
-
-  packet_last_azm_ = scan_cloud_ptr_->packets.back().data[1102];
-  packet_last_azm_ |= scan_cloud_ptr_->packets.back().data[1103] << 8;
-
-  packet_first_azm_phased_ = (36000 + packet_first_azm_ - phase_) % 36000;
-  packet_last_azm_phased_ = (36000 + packet_last_azm_ - phase_) % 36000;
-
-  if (processed_packets_ > 1) {
-    if (
-      packet_last_azm_phased_ < packet_first_azm_phased_ ||
-      packet_first_azm_phased_ < prev_packet_first_azm_phased_) {
-      // Callback
-      scan_reception_callback_(std::move(scan_cloud_ptr_));
-      scan_cloud_ptr_ = std::make_unique<velodyne_msgs::msg::VelodyneScan>();
-      processed_packets_ = 0;
-    }
+void VelodyneHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
+{
+  if (!cloud_packet_callback_) {
+    return;
   }
-  prev_packet_first_azm_phased_ = packet_first_azm_phased_;
+
+  cloud_packet_callback_(buffer);
 }
 Status VelodyneHwInterface::SensorInterfaceStop()
 {
@@ -112,13 +78,6 @@ Status VelodyneHwInterface::GetSensorConfiguration(SensorConfigurationBase & sen
   return Status::ERROR_1;
 }
 
-Status VelodyneHwInterface::GetCalibrationConfiguration(
-  CalibrationConfigurationBase & calibration_configuration)
-{
-  PrintDebug(calibration_configuration.calibration_file);
-  return Status::ERROR_1;
-}
-
 VelodyneStatus VelodyneHwInterface::InitHttpClient()
 {
   try {
@@ -188,7 +147,7 @@ boost::property_tree::ptree VelodyneHwInterface::ParseJson(const std::string & s
 }
 
 VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
-  std::shared_ptr<VelodyneSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration,
   boost::property_tree::ptree tree)
 {
   std::string target_key = "config.returns";
@@ -523,15 +482,14 @@ VelodyneStatus VelodyneHwInterface::GetSnapshotAsync()
 }
 
 VelodyneStatus VelodyneHwInterface::CheckAndSetConfigBySnapshotAsync(
-  std::shared_ptr<VelodyneSensorConfiguration> sensor_configuration)
+  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
 {
   sensor_configuration_ = sensor_configuration;
 
   return GetSnapshotAsync([this](const std::string & str) {
     auto tree = ParseJson(str);
     std::cout << "ParseJson OK\n";
-    CheckAndSetConfig(
-      std::static_pointer_cast<VelodyneSensorConfiguration>(sensor_configuration_), tree);
+    CheckAndSetConfig(sensor_configuration_, tree);
   });
 }
 
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 324d38074..d756a3d51 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -49,32 +49,17 @@ rclcpp_components_register_node(hesai_ros_wrapper
         )
 
 ## Velodyne
-# Hw Interface
-ament_auto_add_library(velodyne_hw_ros_wrapper SHARED
-        src/velodyne/velodyne_hw_interface_ros_wrapper.cpp
-        )
-rclcpp_components_register_node(velodyne_hw_ros_wrapper
-        PLUGIN "VelodyneHwInterfaceRosWrapper"
-        EXECUTABLE velodyne_hw_ros_wrapper_node
-        )
-
-
-# Monitor
-ament_auto_add_library(velodyne_hw_monitor_ros_wrapper SHARED
-        src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp
-        )
-rclcpp_components_register_node(velodyne_hw_monitor_ros_wrapper
-        PLUGIN "VelodyneHwMonitorRosWrapper"
-        EXECUTABLE velodyne_hw_monitor_ros_wrapper_node
+ament_auto_add_library(velodyne_ros_wrapper SHARED
+        src/velodyne/velodyne_ros_wrapper.cpp
+        src/velodyne/decoder_wrapper.cpp
+        src/velodyne/hw_interface_wrapper.cpp
+        src/velodyne/hw_monitor_wrapper.cpp
+        src/common/parameter_descriptors.cpp
         )
 
-# DriverDecoder
-ament_auto_add_library(velodyne_driver_ros_wrapper SHARED
-        src/velodyne/velodyne_decoder_ros_wrapper.cpp
-        )
-rclcpp_components_register_node(velodyne_driver_ros_wrapper
-        PLUGIN "VelodyneDriverRosWrapper"
-        EXECUTABLE velodyne_driver_ros_wrapper_node
+rclcpp_components_register_node(velodyne_ros_wrapper
+        PLUGIN "VelodyneRosWrapper"
+        EXECUTABLE velodyne_ros_wrapper_node
         )
 
 ## Robosense
diff --git a/nebula_ros/include/nebula_ros/velodyne/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/decoder_wrapper.hpp
new file mode 100644
index 000000000..283b68368
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/velodyne/decoder_wrapper.hpp
@@ -0,0 +1,91 @@
+#pragma once
+
+#include "nebula_ros/common/parameter_descriptors.hpp"
+#include "nebula_ros/common/watchdog_timer.hpp"
+
+#include <nebula_common/nebula_common.hpp>
+#include <nebula_common/util/expected.hpp>
+#include <nebula_common/velodyne/velodyne_common.hpp>
+#include <nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <nebula_msgs/msg/nebula_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
+#include <filesystem>
+#include <memory>
+#include <mutex>
+
+namespace nebula
+{
+namespace ros
+{
+class VelodyneDecoderWrapper
+{
+  using get_calibration_result_t = nebula::util::expected<
+    std::shared_ptr<drivers::VelodyneCalibrationConfiguration>, nebula::Status>;
+
+public:
+  VelodyneDecoderWrapper(
+    rclcpp::Node * const parent_node,
+    const std::shared_ptr<nebula::drivers::VelodyneHwInterface> & hw_interface,
+    std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config);
+
+  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+
+  void OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & new_config);
+
+  void OnCalibrationChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneCalibrationConfiguration> &
+      new_calibration);
+
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(
+    const std::vector<rclcpp::Parameter> & p);
+
+  nebula::Status Status();
+
+private:
+  /// @brief Load calibration data from file
+  /// @param calibration_file_path The file to read from
+  /// @return The calibration data if successful, or an error code if not
+  get_calibration_result_t GetCalibrationData(const std::string & calibration_file_path);
+
+  void PublishCloud(
+    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
+
+  /// @brief Convert seconds to chrono::nanoseconds
+  /// @param seconds
+  /// @return chrono::nanoseconds
+  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
+  {
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+      std::chrono::duration<double>(seconds));
+  }
+
+  nebula::Status status_;
+  rclcpp::Logger logger_;
+
+  const std::shared_ptr<nebula::drivers::VelodyneHwInterface> hw_interface_;
+  std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> sensor_cfg_;
+
+  std::string calibration_file_path_{};
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_cfg_ptr_{};
+
+  std::shared_ptr<drivers::VelodyneDriver> driver_ptr_{};
+  std::mutex mtx_driver_ptr_;
+
+  rclcpp::Publisher<velodyne_msgs::msg::VelodyneScan>::SharedPtr packets_pub_{};
+  velodyne_msgs::msg::VelodyneScan::UniquePtr current_scan_msg_{};
+
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
+
+  std::shared_ptr<WatchdogTimer> cloud_watchdog_;
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp
new file mode 100644
index 000000000..5c857fa12
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/velodyne/hw_interface_wrapper.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
+#include <nebula_common/velodyne/velodyne_common.hpp>
+
+#include <nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+namespace nebula
+{
+namespace ros
+{
+class VelodyneHwInterfaceWrapper
+{
+public:
+  VelodyneHwInterfaceWrapper(rclcpp::Node* const parent_node,
+                          std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& config);
+
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & new_config);
+
+  nebula::Status Status();
+
+  std::shared_ptr<drivers::VelodyneHwInterface> HwInterface() const;
+
+private:
+  std::shared_ptr<drivers::VelodyneHwInterface> hw_interface_;
+  rclcpp::Logger logger_;
+  nebula::Status status_;
+  bool setup_sensor_;
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
similarity index 69%
rename from nebula_ros/include/nebula_ros/velodyne/velodyne_hw_monitor_ros_wrapper.hpp
rename to nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
index 3f589bbbf..a003aad43 100644
--- a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_monitor_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
@@ -1,92 +1,63 @@
-#ifndef NEBULA_VelodyneHwMonitorRosWrapper_H
-#define NEBULA_VelodyneHwMonitorRosWrapper_H
+#pragma once
 
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/velodyne/velodyne_common.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 
-#include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
+#include <nebula_common/velodyne/velodyne_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
 
-#include <mutex>
+#include <boost/algorithm/string/join.hpp>
+#include <boost/asio.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/property_tree/ptree.hpp>
+
+#include <array>
+#include <memory>
 
 namespace nebula
 {
 namespace ros
 {
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
+class VelodyneHwMonitorWrapper
 {
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
-    value = it->template get_value<T>();
-    return true;
+public:
+  VelodyneHwMonitorWrapper(
+    rclcpp::Node * const parent_node,
+    const std::shared_ptr<nebula::drivers::VelodyneHwInterface> & hw_interface,
+    std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & config);
+
+  void OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> & /* new_config */)
+  {
   }
-  return false;
-}
 
-/// @brief Hardware monitor ros wrapper of velodyne driver
-class VelodyneHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapperBase
-{
-  drivers::VelodyneHwInterface hw_interface_;
-  Status interface_status_;
+  nebula::Status Status();
 
-  drivers::VelodyneSensorConfiguration sensor_configuration_;
-  drivers::VelodyneCalibrationConfiguration calibration_configuration_;
+private:
+  void InitializeVelodyneDiagnostics();
 
-  /// @brief Initializing hardware monitor ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
+  /// @brief Callback of the timer for getting the current lidar status
+  void OnVelodyneStatusTimer();
+
+  /// @brief Callback of the timer for getting the current lidar snapshot
+  void OnVelodyneSnapshotTimer();
+
+  /// @brief Callback of the timer for getting the current lidar status & updating the diagnostics
+  void OnVelodyneDiagnosticsTimer();
 
-public:
-  explicit VelodyneHwMonitorRosWrapper(const rclcpp::NodeOptions & options);
-
-  /// @brief Not used
-  /// @return Current status
-  Status MonitorStart() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status MonitorStop() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status Shutdown() override;
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status GetParameters(drivers::VelodyneSensorConfiguration & sensor_configuration);
-
-private:  // ROS Diagnostics
-  diagnostic_updater::Updater diagnostics_updater_;
-  /// @brief Initializing diagnostics
-  void InitializeVelodyneDiagnostics();
   /// @brief Get value from property_tree
   /// @param pt property_tree
   /// @param key Pey string
   /// @return Value
   std::string GetPtreeValue(
     std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key);
+
   /// @brief Making fixed precision string
   /// @param val Target value
   /// @param pre Precision
   /// @return Created string
   std::string GetFixedPrecisionString(double val, int pre = 2);
-  rclcpp::TimerBase::SharedPtr diagnostics_diag_timer_;
-  std::shared_ptr<boost::property_tree::ptree> current_diag_tree;
-  /// @brief Callback of the timer for getting the current lidar status & updating the diagnostics
-  void OnVelodyneDiagnosticsTimer();
 
   /// @brief Getting top:hv from the current property_tree
   /// @return tuple<Got exception, Error level, Information message, Error message>
@@ -242,8 +213,6 @@ class VelodyneHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWr
   void VelodyneCheckAdctpStat(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
   rclcpp::TimerBase::SharedPtr diagnostics_status_timer_;
   std::shared_ptr<boost::property_tree::ptree> current_status_tree;
-  /// @brief Callback of the timer for getting the current lidar status
-  void OnVelodyneStatusTimer();
   /// @brief Check gps:pps_state from the current property_tree for diagnostic_updater
   /// @param diagnostics DiagnosticStatusWrapper
   void VelodyneCheckGpsPpsState(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
@@ -286,150 +255,110 @@ class VelodyneHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWr
   /// @param diagnostics DiagnosticStatusWrapper
   void VelodyneCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  /// @brief Callback of the timer for getting the current lidar snapshot
-  void OnVelodyneSnapshotTimer();
+  rclcpp::Logger logger_;
+  diagnostic_updater::Updater diagnostics_updater_;
+  nebula::Status status_;
+
+  const std::shared_ptr<nebula::drivers::VelodyneHwInterface> hw_interface_;
+  rclcpp::Node * const parent_node_;
+
+  std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> sensor_configuration_;
+
+  uint16_t diag_span_;
+  bool show_advanced_diagnostics_;
+
+
   rclcpp::TimerBase::SharedPtr diagnostics_snapshot_timer_;
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
+  rclcpp::TimerBase::SharedPtr diagnostics_diag_timer_;
+
   std::shared_ptr<std::string> current_snapshot;
   std::shared_ptr<boost::property_tree::ptree> current_snapshot_tree;
+  std::shared_ptr<boost::property_tree::ptree> current_diag_tree;
   std::shared_ptr<rclcpp::Time> current_snapshot_time;
-  //  rclcpp::Time current_snapshot_time;
-  //  std::shared_ptr<uint8_t> current_diag_status;
   uint8_t current_diag_status;
 
-  uint16_t diag_span_;
-  std::mutex mtx_diag;
-  std::mutex mtx_status;
-  std::mutex mtx_config_;
-
-  /// @brief Test callback function for getting json with curl
-  /// @param err Error
-  /// @param body Received body
-  void curl_callback(std::string err, std::string body);
-
-  const char * key_volt_temp_top_hv;
-  const char * key_volt_temp_top_ad_temp;
-  const char * key_volt_temp_top_lm20_temp;
-  const char * key_volt_temp_top_pwr_5v;
-  const char * key_volt_temp_top_pwr_2_5v;
-  const char * key_volt_temp_top_pwr_3_3v;
-  const char * key_volt_temp_top_pwr_5v_raw;
-  const char * key_volt_temp_top_pwr_raw;
-  const char * key_volt_temp_top_pwr_vccint;
-  const char * key_volt_temp_bot_i_out;
-  const char * key_volt_temp_bot_pwr_1_2v;
-  const char * key_volt_temp_bot_lm20_temp;
-  const char * key_volt_temp_bot_pwr_5v;
-  const char * key_volt_temp_bot_pwr_2_5v;
-  const char * key_volt_temp_bot_pwr_3_3v;
-  const char * key_volt_temp_bot_pwr_v_in;
-  const char * key_volt_temp_bot_pwr_1_25v;
-  const char * key_vhv;
-  const char * key_adc_nf;
-  const char * key_adc_stats;
-  const char * key_ixe;
-  const char * key_adctp_stat;
-  const char * key_status_gps_pps_state;
-  const char * key_status_gps_pps_position;
-  const char * key_status_motor_state;
-  const char * key_status_motor_rpm;
-  const char * key_status_motor_lock;
-  const char * key_status_motor_phase;
-  const char * key_status_laser_state;
-
-  /*
-  const char* name_volt_temp_top_hv;
-  const char* name_volt_temp_top_ad_temp;
-  const char* name_volt_temp_top_lm20_temp;
-  const char* name_volt_temp_top_pwr_5v;
-  const char* name_volt_temp_top_pwr_2_5v;
-  const char* name_volt_temp_top_pwr_3_3v;
-  const char* name_volt_temp_top_pwr_raw;
-  const char* name_volt_temp_top_pwr_vccint;
-  const char* name_volt_temp_bot_i_out;
-  const char* name_volt_temp_bot_pwr_1_2v;
-  const char* name_volt_temp_bot_lm20_temp;
-  const char* name_volt_temp_bot_pwr_5v;
-  const char* name_volt_temp_bot_pwr_2_5v;
-  const char* name_volt_temp_bot_pwr_3_3v;
-  const char* name_volt_temp_bot_pwr_v_in;
-  const char* name_volt_temp_bot_pwr_1_25v;
-  const char* name_vhv;
-  const char* name_adc_nf;
-  const char* name_adc_stats;
-  const char* name_ixe;
-  const char* name_adctp_stat;
-  const char* name_status_gps_pps_state;
-  const char* name_status_gps_pps_position;
-  const char* name_status_motor_state;
-  const char* name_status_motor_rpm;
-  const char* name_status_motor_lock;
-  const char* name_status_motor_phase;
-  const char* name_status_laser_state;
-  */
-
-  std::string name_volt_temp_top_hv;
-  std::string name_volt_temp_top_ad_temp;
-  std::string name_volt_temp_top_lm20_temp;
-  std::string name_volt_temp_top_pwr_5v;
-  std::string name_volt_temp_top_pwr_2_5v;
-  std::string name_volt_temp_top_pwr_3_3v;
-  std::string name_volt_temp_top_pwr_5v_raw;
-  std::string name_volt_temp_top_pwr_raw;
-  std::string name_volt_temp_top_pwr_vccint;
-  std::string name_volt_temp_bot_i_out;
-  std::string name_volt_temp_bot_pwr_1_2v;
-  std::string name_volt_temp_bot_lm20_temp;
-  std::string name_volt_temp_bot_pwr_5v;
-  std::string name_volt_temp_bot_pwr_2_5v;
-  std::string name_volt_temp_bot_pwr_3_3v;
-  std::string name_volt_temp_bot_pwr_v_in;
-  std::string name_volt_temp_bot_pwr_1_25v;
-  std::string name_vhv;
-  std::string name_adc_nf;
-  std::string name_adc_stats;
-  std::string name_ixe;
-  std::string name_adctp_stat;
-  std::string name_status_gps_pps_state;
-  std::string name_status_gps_pps_position;
-  std::string name_status_motor_state;
-  std::string name_status_motor_rpm;
-  std::string name_status_motor_lock;
-  std::string name_status_motor_phase;
-  std::string name_status_laser_state;
-
-  const char * not_supported_message;
-  const char * error_message;
-  std::string message_sep;
-
-  const char * key_info_model;
-  const char * key_info_serial;
-
-  std::string temperature_cold_message;
-  std::string temperature_hot_message;
-  std::string voltage_low_message;
-  std::string voltage_high_message;
-  std::string ampere_low_message;
-  std::string ampere_high_message;
-
-  std::string info_model;
-  std::string info_serial;
-
-  bool use_advanced_diagnostics;
-
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-
-  //  rclcpp::callback_group::CallbackGroup::SharedPtr cbg_;
-  rclcpp::CallbackGroup::SharedPtr cbg_r_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m_;
-};
+  std::timed_mutex tm_status_;
+  std::timed_mutex tm_diag_;
 
-}  // namespace ros
-}  // namespace nebula
+  std::string info_model_;
+  std::string info_serial_;
+
+  static constexpr auto key_volt_temp_top_hv = "volt_temp.top.hv";
+  static constexpr auto key_volt_temp_top_ad_temp = "volt_temp.top.ad_temp";  // only32
+  static constexpr auto key_volt_temp_top_lm20_temp = "volt_temp.top.lm20_temp";
+  static constexpr auto key_volt_temp_top_pwr_5v = "volt_temp.top.pwr_5v";
+  static constexpr auto key_volt_temp_top_pwr_2_5v = "volt_temp.top.pwr_2_5v";
+  static constexpr auto key_volt_temp_top_pwr_3_3v = "volt_temp.top.pwr_3_3v";
+  static constexpr auto key_volt_temp_top_pwr_5v_raw = "volt_temp.top.pwr_5v_raw";  // only16
+  static constexpr auto key_volt_temp_top_pwr_raw = "volt_temp.top.pwr_raw";        // only32
+  static constexpr auto key_volt_temp_top_pwr_vccint = "volt_temp.top.pwr_vccint";
+  static constexpr auto key_volt_temp_bot_i_out = "volt_temp.bot.i_out";
+  static constexpr auto key_volt_temp_bot_pwr_1_2v = "volt_temp.bot.pwr_1_2v";
+  static constexpr auto key_volt_temp_bot_lm20_temp = "volt_temp.bot.lm20_temp";
+  static constexpr auto key_volt_temp_bot_pwr_5v = "volt_temp.bot.pwr_5v";
+  static constexpr auto key_volt_temp_bot_pwr_2_5v = "volt_temp.bot.pwr_2_5v";
+  static constexpr auto key_volt_temp_bot_pwr_3_3v = "volt_temp.bot.pwr_3_3v";
+  static constexpr auto key_volt_temp_bot_pwr_v_in = "volt_temp.bot.pwr_v_in";
+  static constexpr auto key_volt_temp_bot_pwr_1_25v = "volt_temp.bot.pwr_1_25v";
+  static constexpr auto key_vhv = "vhv";
+  static constexpr auto key_adc_nf = "adc_nf";
+  static constexpr auto key_adc_stats = "adc_stats";
+  static constexpr auto key_ixe = "ixe";
+  static constexpr auto key_adctp_stat = "adctp_stat";
+  static constexpr auto key_status_gps_pps_state = "gps.pps_state";
+  static constexpr auto key_status_gps_pps_position = "gps.position";
+  static constexpr auto key_status_motor_state = "motor.state";
+  static constexpr auto key_status_motor_rpm = "motor.rpm";
+  static constexpr auto key_status_motor_lock = "motor.lock";
+  static constexpr auto key_status_motor_phase = "motor.phase";
+  static constexpr auto key_status_laser_state = "laser.state";
+
+  static constexpr auto name_volt_temp_top_hv = "Top HV";
+  static constexpr auto name_volt_temp_top_ad_temp = "Top A/D TD";
+  static constexpr auto name_volt_temp_top_lm20_temp = "Top Temp";
+  static constexpr auto name_volt_temp_top_pwr_5v = "Top 5v";
+  static constexpr auto name_volt_temp_top_pwr_2_5v = "Top 2.5v";
+  static constexpr auto name_volt_temp_top_pwr_3_3v = "Top 3.3v";
+  static constexpr auto name_volt_temp_top_pwr_5v_raw = "Top 5v(RAW)";
+  static constexpr auto name_volt_temp_top_pwr_raw = "Top RAW";
+  static constexpr auto name_volt_temp_top_pwr_vccint = "Top VCCINT";
+  static constexpr auto name_volt_temp_bot_i_out = "Bot I out";
+  static constexpr auto name_volt_temp_bot_pwr_1_2v = "Bot 1.2v";
+  static constexpr auto name_volt_temp_bot_lm20_temp = "Bot Temp";
+  static constexpr auto name_volt_temp_bot_pwr_5v = "Bot 5v";
+  static constexpr auto name_volt_temp_bot_pwr_2_5v = "Bot 2.5v";
+  static constexpr auto name_volt_temp_bot_pwr_3_3v = "Bot 3.3v";
+  static constexpr auto name_volt_temp_bot_pwr_v_in = "Bot V in";
+  static constexpr auto name_volt_temp_bot_pwr_1_25v = "Bot 1.25v";  // N/A?
+  static constexpr auto name_vhv = "VHV";
+  static constexpr auto name_adc_nf = "adc_nf";
+  static constexpr auto name_adc_stats = "adc_stats";
+  static constexpr auto name_ixe = "ixe";
+  static constexpr auto name_adctp_stat = "adctp_stat";
+  static constexpr auto name_status_gps_pps_state = "GPS PPS";
+  static constexpr auto name_status_gps_pps_position = "GPS Position";
+  static constexpr auto name_status_motor_state = "Motor State";
+  static constexpr auto name_status_motor_rpm = "Motor RPM";
+  static constexpr auto name_status_motor_lock = "Motor Lock";
+  static constexpr auto name_status_motor_phase = "Motor Phase";
+  static constexpr auto name_status_laser_state = "Laser State";
+
+  const std::string message_sep{": "};
+  static constexpr auto not_supported_message = "Not supported";
+  static constexpr auto error_message = "Error";
 
-#endif  // NEBULA_VelodyneHwMonitorRosWrapper_H
+  static constexpr auto key_info_model = "info.model";
+  static constexpr auto key_info_serial = "info.serial";
+
+  static constexpr auto temperature_cold_message = "temperature cold";
+  static constexpr auto temperature_hot_message = "temperature hot";
+
+  static constexpr auto voltage_low_message = "voltage low";
+  static constexpr auto voltage_high_message = "voltage high";
+
+  static constexpr auto ampere_low_message = "ampere low";
+  static constexpr auto ampere_high_message = "ampere high";
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
deleted file mode 100644
index 5bc79b6c8..000000000
--- a/nebula_ros/include/nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp
+++ /dev/null
@@ -1,83 +0,0 @@
-#ifndef NEBULA_VelodyneDriverRosWrapper_H
-#define NEBULA_VelodyneDriverRosWrapper_H
-
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-#include "nebula_common/velodyne/velodyne_common.hpp"
-#include "nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp"
-#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <velodyne_msgs/msg/velodyne_packet.hpp>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Ros wrapper of velodyne driver
-class VelodyneDriverRosWrapper final : public rclcpp::Node, NebulaDriverRosWrapperBase
-{
-  std::shared_ptr<drivers::VelodyneDriver> driver_ptr_;
-  Status wrapper_status_;
-  rclcpp::Subscription<velodyne_msgs::msg::VelodyneScan>::SharedPtr velodyne_scan_sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
-
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
-
-  /// @brief Initializing ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @param calibration_configuration Output of CalibrationConfiguration
-  /// @return Resulting status
-  Status GetParameters(
-    drivers::VelodyneSensorConfiguration & sensor_configuration,
-    drivers::VelodyneCalibrationConfiguration & calibration_configuration);
-
-  /// @brief Convert seconds to chrono::nanoseconds
-  /// @param seconds
-  /// @return chrono::nanoseconds
-  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
-  {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(seconds));
-  }
-
-  /***
-   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
-   * @param pointcloud unique pointer containing the point cloud to publish
-   * @param publisher
-   */
-  void PublishCloud(
-    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
-
-public:
-  explicit VelodyneDriverRosWrapper(const rclcpp::NodeOptions & options);
-
-  /// @brief Callback for VelodyneScan subscriber
-  /// @param scan_msg Received VelodyneScan
-  void ReceiveScanMsgCallback(const velodyne_msgs::msg::VelodyneScan::SharedPtr scan_msg);
-  /// @brief Get current status of this driver
-  /// @return Current status
-  Status GetStatus();
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_VelodyneDriverRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
deleted file mode 100644
index 5a0e094c3..000000000
--- a/nebula_ros/include/nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp
+++ /dev/null
@@ -1,202 +0,0 @@
-#ifndef NEBULA_VelodyneHwInterfaceRosWrapper_H
-#define NEBULA_VelodyneHwInterfaceRosWrapper_H
-
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/velodyne/velodyne_common.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <velodyne_msgs/msg/velodyne_packet.hpp>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
-
-#include <curl/curl.h>
-
-#include <future>
-#include <mutex>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
-{
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
-    value = it->template get_value<T>();
-    return true;
-  }
-  return false;
-}
-
-/// @brief Hardware interface ros wrapper of velodyne driver
-class VelodyneHwInterfaceRosWrapper final : public rclcpp::Node, NebulaHwInterfaceWrapperBase
-{
-  drivers::VelodyneHwInterface hw_interface_;
-  Status interface_status_;
-
-  drivers::VelodyneSensorConfiguration sensor_configuration_;
-  drivers::VelodyneCalibrationConfiguration calibration_configuration_;
-
-  /// @brief Received Velodyne message publisher
-  rclcpp::Publisher<velodyne_msgs::msg::VelodyneScan>::SharedPtr velodyne_scan_pub_;
-
-  /// @brief Initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
-  /// @brief Callback for receiving VelodyneScan
-  /// @param scan_buffer Received VelodyneScan
-  void ReceiveScanDataCallback(std::unique_ptr<velodyne_msgs::msg::VelodyneScan> scan_buffer);
-
-public:
-  explicit VelodyneHwInterfaceRosWrapper(const rclcpp::NodeOptions & options);
-  /// @brief Start point cloud streaming (Call SensorInterfaceStart of HwInterface)
-  /// @return Resulting status
-  Status StreamStart() override;
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  Status StreamStop() override;
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  Status Shutdown() override;
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status GetParameters(drivers::VelodyneSensorConfiguration & sensor_configuration);
-
-private:  // ROS Diagnostics
-  /*
-diagnostic_updater::Updater diagnostics_updater_;
-void InitializeVelodyneDiagnostics();
-*/
-
-  /// @brief Get value from property_tree
-  /// @param pt property_tree
-  /// @param key Pey string
-  /// @return Value
-  std::string GetPtreeValue(
-    std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key);
-  /*
-  rclcpp::TimerBase::SharedPtr diagnostics_diag_timer_;
-*/
-  std::shared_ptr<boost::property_tree::ptree> current_diag_tree;
-  /*
-  void OnVelodyneDiagnosticsTimer();
-  void VelodyneCheckTopHv(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopAdTemp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopLm20Temp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopPwr5v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopPwr25v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopPwr33v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopPwrRaw(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckTopPwrVccint(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotIOut(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwr12v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotLm20Temp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwr5v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwr25v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwr33v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwrVIn(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckBotPwr125v(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckVhv(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckAdcNf(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckAdcStats(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckIxe(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckAdctpStat(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  rclcpp::TimerBase::SharedPtr diagnostics_status_timer_;
-*/
-  std::shared_ptr<boost::property_tree::ptree> current_status_tree;
-  /*
-  void OnVelodyneStatusTimer();
-  void VelodyneCheckGpsPpsState(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckGpsPosition(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckMotorState(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckMotorRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckMotorLock(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckMotorPhase(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  void VelodyneCheckLaserState(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-
-  void VelodyneCheckSnapshot(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-
-  void OnVelodyneSnapshotTimer();
-  rclcpp::TimerBase::SharedPtr diagnostics_snapshot_timer_;
-  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
-*/
-  std::shared_ptr<std::string> current_snapshot;
-  std::shared_ptr<boost::property_tree::ptree> current_snapshot_tree;
-  std::shared_ptr<rclcpp::Time> current_snapshot_time;
-  //  rclcpp::Time current_snapshot_time;
-  //  std::shared_ptr<uint8_t> current_diag_status;
-  uint8_t current_diag_status;
-
-  uint16_t diag_span_;
-  std::mutex mtx_diag;
-  std::mutex mtx_status;
-  std::mutex mtx_config_;
-
-  void curl_callback(std::string err, std::string body);
-  /*
-  const char* key_volt_temp_top_hv;
-  const char* key_volt_temp_top_ad_temp;
-  const char* key_volt_temp_top_lm20_temp;
-  const char* key_volt_temp_top_pwr_5v;
-  const char* key_volt_temp_top_pwr_2_5v;
-  const char* key_volt_temp_top_pwr_3_3v;
-  const char* key_volt_temp_top_pwr_raw;
-  const char* key_volt_temp_top_pwr_vccint;
-  const char* key_volt_temp_bot_i_out;
-  const char* key_volt_temp_bot_pwr_1_2v;
-  const char* key_volt_temp_bot_lm20_temp;
-  const char* key_volt_temp_bot_pwr_5v;
-  const char* key_volt_temp_bot_pwr_2_5v;
-  const char* key_volt_temp_bot_pwr_3_3v;
-  const char* key_volt_temp_bot_pwr_v_in;
-  const char* key_volt_temp_bot_pwr_1_25v;
-  const char* key_vhv;
-  const char* key_adc_nf;
-  const char* key_adc_stats;
-  const char* key_ixe;
-  const char* key_adctp_stat;
-  const char* key_status_gps_pps_state;
-  const char* key_status_gps_pps_position;
-  const char* key_status_motor_state;
-  const char* key_status_motor_rpm;
-  const char* key_status_motor_lock;
-  const char* key_status_motor_phase;
-  const char* key_status_laser_state;
-*/
-  const char * not_supported_message;
-
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-  /// @brief Updating rclcpp parameter
-  /// @return SetParametersResult
-  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
-
-  //  rclcpp::callback_group::CallbackGroup::SharedPtr cbg_;
-  rclcpp::CallbackGroup::SharedPtr cbg_r_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m_;
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_VelodyneHwInterfaceRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/velodyne/velodyne_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/velodyne_ros_wrapper.hpp
new file mode 100644
index 000000000..a7110bd4a
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/velodyne/velodyne_ros_wrapper.hpp
@@ -0,0 +1,90 @@
+#pragma once
+
+#include "nebula_ros/common/mt_queue.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
+#include "nebula_ros/velodyne/decoder_wrapper.hpp"
+#include "nebula_ros/velodyne/hw_interface_wrapper.hpp"
+#include "nebula_ros/velodyne/hw_monitor_wrapper.hpp"
+
+#include <ament_index_cpp/get_package_prefix.hpp>
+#include <boost_tcp_driver/tcp_driver.hpp>
+#include <nebula_common/nebula_common.hpp>
+#include <nebula_common/nebula_status.hpp>
+#include <nebula_common/velodyne/velodyne_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <nebula_msgs/msg/nebula_packet.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
+#include <boost/algorithm/string/join.hpp>
+#include <boost/asio.hpp>
+#include <boost/lexical_cast.hpp>
+
+#include <array>
+#include <chrono>
+#include <mutex>
+#include <optional>
+#include <thread>
+
+namespace nebula
+{
+namespace ros
+{
+
+/// @brief Ros wrapper of velodyne driver
+class VelodyneRosWrapper final : public rclcpp::Node
+{
+public:
+  explicit VelodyneRosWrapper(const rclcpp::NodeOptions & options);
+  ~VelodyneRosWrapper() noexcept {};
+
+  /// @brief Get current status of this driver
+  /// @return Current status
+  Status GetStatus();
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  Status StreamStart();
+
+private:
+  void ReceiveCloudPacketCallback(std::vector<uint8_t> & packet);
+
+  void ReceiveScanMessageCallback(std::unique_ptr<velodyne_msgs::msg::VelodyneScan> scan_msg);
+
+  Status DeclareAndGetSensorConfigParams();
+
+  /// @brief rclcpp parameter callback
+  /// @param parameters Received parameters
+  /// @return SetParametersResult
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(
+    const std::vector<rclcpp::Parameter> & p);
+
+  Status ValidateAndSetConfig(
+    std::shared_ptr<const drivers::VelodyneSensorConfiguration> & new_config);
+
+  Status wrapper_status_;
+
+  std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration> sensor_cfg_ptr_{};
+
+  /// @brief Stores received packets that have not been processed yet by the decoder thread
+  mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  /// @brief Thread to isolate decoding from receiving
+  std::thread decoder_thread_;
+
+  rclcpp::Subscription<velodyne_msgs::msg::VelodyneScan>::SharedPtr packets_sub_{};
+
+  bool launch_hw_;
+
+  std::optional<VelodyneHwInterfaceWrapper> hw_interface_wrapper_;
+  std::optional<VelodyneHwMonitorWrapper> hw_monitor_wrapper_;
+  std::optional<VelodyneDecoderWrapper> decoder_wrapper_;
+
+  std::mutex mtx_config_;
+
+  OnSetParametersCallbackHandle::SharedPtr parameter_event_cb_;
+};
+
+}  // namespace ros
+}  // namespace nebula
diff --git a/nebula_ros/src/velodyne/decoder_wrapper.cpp b/nebula_ros/src/velodyne/decoder_wrapper.cpp
new file mode 100644
index 000000000..cfbf21869
--- /dev/null
+++ b/nebula_ros/src/velodyne/decoder_wrapper.cpp
@@ -0,0 +1,242 @@
+#include "nebula_ros/velodyne/decoder_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+using namespace std::chrono_literals;
+
+VelodyneDecoderWrapper::VelodyneDecoderWrapper(rclcpp::Node* const parent_node,
+                                         const std::shared_ptr<nebula::drivers::VelodyneHwInterface>& hw_interface,
+                                         std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& config)
+  : status_(nebula::Status::NOT_INITIALIZED)
+  , logger_(parent_node->get_logger().get_child("VelodyneDecoder"))
+  , hw_interface_(hw_interface)
+  , sensor_cfg_(config)
+{
+  if (!config)
+  {
+    throw std::runtime_error("VelodyneDecoderWrapper cannot be instantiated without a valid config!");
+  }
+
+  calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
+  auto calibration_result = GetCalibrationData(calibration_file_path_);
+
+  if (!calibration_result.has_value())
+  {
+    throw std::runtime_error(
+        (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+  }
+
+  calibration_cfg_ptr_ = calibration_result.value();
+  RCLCPP_INFO_STREAM(logger_, "Using calibration data from " << calibration_cfg_ptr_->calibration_file);
+
+  RCLCPP_INFO(logger_, "Starting Decoder");
+
+  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(config, calibration_cfg_ptr_);
+  status_ = driver_ptr_->GetStatus();
+
+  if (Status::OK != status_)
+  {
+    throw std::runtime_error((std::stringstream() << "Error instantiating decoder: " << status_).str());
+  }
+
+  // Publish packets only if HW interface is connected
+  if (hw_interface_)
+  {
+    current_scan_msg_ = std::make_unique<velodyne_msgs::msg::VelodyneScan>();
+    packets_pub_ =
+        parent_node->create_publisher<velodyne_msgs::msg::VelodyneScan>("velodyne_packets", rclcpp::SensorDataQoS());
+  }
+
+  auto qos_profile = rmw_qos_profile_sensor_data;
+  auto pointcloud_qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+
+  nebula_points_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("velodyne_points", pointcloud_qos);
+  aw_points_base_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+
+  RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
+
+  cloud_watchdog_ = std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
+    if (ok)
+      return;
+    RCLCPP_WARN_THROTTLE(logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
+  });
+}
+
+void VelodyneDecoderWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& new_config)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::VelodyneDriver>(new_config, calibration_cfg_ptr_);
+  driver_ptr_ = new_driver;
+  sensor_cfg_ = new_config;
+}
+
+void VelodyneDecoderWrapper::OnCalibrationChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneCalibrationConfiguration>& new_calibration)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::VelodyneDriver>(sensor_cfg_, new_calibration);
+  driver_ptr_ = new_driver;
+  calibration_cfg_ptr_ = new_calibration;
+  calibration_file_path_ = calibration_cfg_ptr_->calibration_file;
+}
+
+rcl_interfaces::msg::SetParametersResult VelodyneDecoderWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+{
+  using namespace rcl_interfaces::msg;
+
+  std::string calibration_path = "";
+
+  bool got_any = get_param(p, "calibration_file", calibration_path);
+  if (!got_any)
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
+  if (!std::filesystem::exists(calibration_path))
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = "The given calibration path does not exist, ignoring: '" + calibration_path + "'";
+    return result;
+  }
+
+  auto get_calibration_result = GetCalibrationData(calibration_path);
+  if (!get_calibration_result.has_value())
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Could not change calibration file to '" << calibration_path
+                                         << "': " << get_calibration_result.error())
+                        .str();
+    return result;
+  }
+
+  OnCalibrationChange(get_calibration_result.value());
+  RCLCPP_INFO_STREAM(logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+}
+
+VelodyneDecoderWrapper::get_calibration_result_t
+VelodyneDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path)
+{
+  auto calib = std::make_shared<drivers::VelodyneCalibrationConfiguration>();
+
+  // If downloaded data did not exist or could not be loaded, fall back to a generic file.
+  // If that file does not exist either, return an error code
+  if (!std::filesystem::exists(calibration_file_path))
+  {
+    RCLCPP_ERROR(logger_, "No calibration data found.");
+    return nebula::Status(Status::INVALID_CALIBRATION_FILE);
+  }
+
+  // Try to load the existing fallback calibration file. Return an error if this fails
+  auto status = calib->LoadFromFile(calibration_file_path);
+  if (status != Status::OK)
+  {
+    RCLCPP_ERROR_STREAM(logger_, "Could not load calibration file at '" << calibration_file_path << "'");
+    return status;
+  }
+
+  // Return the fallback calibration file
+  calib->calibration_file = calibration_file_path;
+  return calib;
+}
+
+void VelodyneDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+{
+  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
+  if (hw_interface_ &&
+      (packets_pub_->get_subscription_count() > 0 || packets_pub_->get_intra_process_subscription_count() > 0))
+  {
+    if (current_scan_msg_->packets.size() == 0)
+    {
+      current_scan_msg_->header.stamp = packet_msg->stamp;
+    }
+
+    velodyne_msgs::msg::VelodynePacket velodyne_packet_msg{};
+    velodyne_packet_msg.stamp = packet_msg->stamp;
+    std::copy(packet_msg->data.begin(), packet_msg->data.end(), velodyne_packet_msg.data.begin());
+    current_scan_msg_->packets.emplace_back(std::move(velodyne_packet_msg));
+  }
+
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts{};
+  nebula::drivers::NebulaPointCloudPtr pointcloud = nullptr;
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud_ts = driver_ptr_->ParseCloudPacket(packet_msg->data, packet_msg->stamp.sec);
+    pointcloud = std::get<0>(pointcloud_ts);
+  }
+
+  if (pointcloud == nullptr)
+  {
+    // todo
+    // RCLCPP_WARN_STREAM(logger_, "Empty cloud parsed.");
+    return;
+  };
+
+  cloud_watchdog_->update();
+
+  // Publish scan message only if it has been written to
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty())
+  {
+    packets_pub_->publish(std::move(current_scan_msg_));
+    current_scan_msg_ = std::make_unique<velodyne_msgs::msg::VelodyneScan>();
+  }
+
+  if (nebula_points_pub_->get_subscription_count() > 0 ||
+      nebula_points_pub_->get_intra_process_subscription_count() > 0)
+  {
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+  }
+  if (aw_points_base_pub_->get_subscription_count() > 0 ||
+      aw_points_base_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_cloud_xyzi = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+  }
+  if (aw_points_ex_pub_->get_subscription_count() > 0 || aw_points_ex_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_ex_cloud =
+        nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+  }
+}
+
+void VelodyneDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                                       const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher)
+{
+  if (pointcloud->header.stamp.sec < 0)
+  {
+    RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
+  }
+  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  publisher->publish(std::move(pointcloud));
+}
+
+nebula::Status VelodyneDecoderWrapper::Status()
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+
+  if (!driver_ptr_)
+  {
+    return nebula::Status::NOT_INITIALIZED;
+  }
+
+  return driver_ptr_->GetStatus();
+}
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/velodyne/hw_interface_wrapper.cpp b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
new file mode 100644
index 000000000..57e1cd927
--- /dev/null
+++ b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
@@ -0,0 +1,55 @@
+#include "nebula_ros/velodyne/hw_interface_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
+    rclcpp::Node* const parent_node, std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& config)
+  : hw_interface_(new nebula::drivers::VelodyneHwInterface())
+  , logger_(parent_node->get_logger().get_child("HwInterfaceWrapper"))
+  , status_(Status::NOT_INITIALIZED)
+{
+  setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", true, param_read_only());
+
+  hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger().get_child("HwInterface")));
+  status_ = hw_interface_->InitializeSensorConfiguration(config);
+
+  if (status_ != Status::OK) {
+    throw std::runtime_error((std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+  }
+
+  if (setup_sensor_) {
+    RCLCPP_INFO_STREAM(logger_, "Setting sensor configuration");
+    status_ = hw_interface_->SetSensorConfiguration(config);
+  }
+
+  if (status_ != Status::OK) {
+    throw std::runtime_error((std::stringstream{} << "Could not set sensor configuration: " << status_).str());
+  }
+
+  status_ = Status::OK;
+}
+
+void VelodyneHwInterfaceWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& new_config)
+{
+  hw_interface_->InitializeSensorConfiguration(new_config);
+  if (setup_sensor_) {
+    hw_interface_->SetSensorConfiguration(new_config);
+  }
+}
+
+Status VelodyneHwInterfaceWrapper::Status()
+{
+  return status_;
+}
+
+std::shared_ptr<drivers::VelodyneHwInterface> VelodyneHwInterfaceWrapper::HwInterface() const
+{
+  return hw_interface_;
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
similarity index 55%
rename from nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp
rename to nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
index 172e61c83..17d02c42c 100644
--- a/nebula_ros/src/velodyne/velodyne_hw_monitor_ros_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
@@ -1,126 +1,27 @@
-#include "nebula_ros/velodyne/velodyne_hw_monitor_ros_wrapper.hpp"
-
-#include <boost/algorithm/string/join.hpp>
-#include <boost/lexical_cast.hpp>
-
-#include <curl/curl.h>
-#include <math.h>
-
-#include <future>
+#include "nebula_ros/velodyne/hw_monitor_wrapper.hpp"
 
 namespace nebula
 {
 namespace ros
 {
-VelodyneHwMonitorRosWrapper::VelodyneHwMonitorRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("velodyne_hw_monitor_ros_wrapper", options),
-  hw_interface_(),
-  diagnostics_updater_(this)
-{
-  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  // Initialize sensor_configuration
-  RCLCPP_INFO_STREAM(this->get_logger(), "Initialize sensor_configuration");
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.InitializeSensorConfiguration");
-  hw_interface_.InitializeSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&VelodyneHwMonitorRosWrapper::paramCallback, this, std::placeholders::_1));
-
-  key_volt_temp_top_hv = "volt_temp.top.hv";
-  key_volt_temp_top_ad_temp = "volt_temp.top.ad_temp";  // only32
-  key_volt_temp_top_lm20_temp = "volt_temp.top.lm20_temp";
-  key_volt_temp_top_pwr_5v = "volt_temp.top.pwr_5v";
-  key_volt_temp_top_pwr_2_5v = "volt_temp.top.pwr_2_5v";
-  key_volt_temp_top_pwr_3_3v = "volt_temp.top.pwr_3_3v";
-  key_volt_temp_top_pwr_5v_raw = "volt_temp.top.pwr_5v_raw";  // only16
-  key_volt_temp_top_pwr_raw = "volt_temp.top.pwr_raw";        // only32
-  key_volt_temp_top_pwr_vccint = "volt_temp.top.pwr_vccint";
-  key_volt_temp_bot_i_out = "volt_temp.bot.i_out";
-  key_volt_temp_bot_pwr_1_2v = "volt_temp.bot.pwr_1_2v";
-  key_volt_temp_bot_lm20_temp = "volt_temp.bot.lm20_temp";
-  key_volt_temp_bot_pwr_5v = "volt_temp.bot.pwr_5v";
-  key_volt_temp_bot_pwr_2_5v = "volt_temp.bot.pwr_2_5v";
-  key_volt_temp_bot_pwr_3_3v = "volt_temp.bot.pwr_3_3v";
-  key_volt_temp_bot_pwr_v_in = "volt_temp.bot.pwr_v_in";
-  key_volt_temp_bot_pwr_1_25v = "volt_temp.bot.pwr_1_25v";
-  key_vhv = "vhv";
-  key_adc_nf = "adc_nf";
-  key_adc_stats = "adc_stats";
-  key_ixe = "ixe";
-  key_adctp_stat = "adctp_stat";
-  key_status_gps_pps_state = "gps.pps_state";
-  key_status_gps_pps_position = "gps.position";
-  key_status_motor_state = "motor.state";
-  key_status_motor_rpm = "motor.rpm";
-  key_status_motor_lock = "motor.lock";
-  key_status_motor_phase = "motor.phase";
-  key_status_laser_state = "laser.state";
-
-  name_volt_temp_top_hv = "Top HV";
-  name_volt_temp_top_ad_temp = "Top A/D TD";
-  name_volt_temp_top_lm20_temp = "Top Temp";
-  name_volt_temp_top_pwr_5v = "Top 5v";
-  name_volt_temp_top_pwr_2_5v = "Top 2.5v";
-  name_volt_temp_top_pwr_3_3v = "Top 3.3v";
-  name_volt_temp_top_pwr_5v_raw = "Top 5v(RAW)";
-  name_volt_temp_top_pwr_raw = "Top RAW";
-  name_volt_temp_top_pwr_vccint = "Top VCCINT";
-  name_volt_temp_bot_i_out = "Bot I out";
-  name_volt_temp_bot_pwr_1_2v = "Bot 1.2v";
-  name_volt_temp_bot_lm20_temp = "Bot Temp";
-  name_volt_temp_bot_pwr_5v = "Bot 5v";
-  name_volt_temp_bot_pwr_2_5v = "Bot 2.5v";
-  name_volt_temp_bot_pwr_3_3v = "Bot 3.3v";
-  name_volt_temp_bot_pwr_v_in = "Bot V in";
-  name_volt_temp_bot_pwr_1_25v = "Bot 1.25v";  // N/A?
-  name_vhv = "VHV";
-  name_adc_nf = "adc_nf";
-  name_adc_stats = "adc_stats";
-  name_ixe = "ixe";
-  name_adctp_stat = "adctp_stat";
-  name_status_gps_pps_state = "GPS PPS";
-  name_status_gps_pps_position = "GPS Position";
-  name_status_motor_state = "Motor State";
-  name_status_motor_rpm = "Motor RPM";
-  name_status_motor_lock = "Motor Lock";
-  name_status_motor_phase = "Motor Phase";
-  name_status_laser_state = "Laser State";
-
-  message_sep = ": ";
-
-  not_supported_message = "Not supported";
-  error_message = "Error";
-
-  key_info_model = "info.model";
-  key_info_serial = "info.serial";
-
-  temperature_cold_message = "temperature cold";
-  temperature_hot_message = "temperature hot";
-  voltage_low_message = "voltage low";
-  voltage_high_message = "voltage high";
-  ampere_low_message = "ampere low";
-  ampere_high_message = "ampere high";
+VelodyneHwMonitorWrapper::VelodyneHwMonitorWrapper(rclcpp::Node* const parent_node,
+                                             const std::shared_ptr<nebula::drivers::VelodyneHwInterface>& hw_interface,
+                                             std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& config)
+  : logger_(parent_node->get_logger().get_child("HwMonitor"))
+  , diagnostics_updater_(parent_node)
+  , status_(Status::OK)
+  , hw_interface_(hw_interface)
+  , parent_node_(parent_node)
+  , sensor_configuration_(config)
+{
+  diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", 1000, param_read_only());
+  show_advanced_diagnostics_ = parent_node->declare_parameter<bool>("advanced_diagnostics", false, param_read_only());
 
   std::cout << "Get model name and serial." << std::endl;
-  hw_interface_.GetSnapshotAsync([this](const std::string & str) {
-    current_snapshot_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  hw_interface_->GetSnapshotAsync([this](const std::string & str) {
+    current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
     current_snapshot_tree =
-      std::make_shared<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
+      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
     current_diag_tree =
       std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
     current_status_tree =
@@ -128,14 +29,12 @@ VelodyneHwMonitorRosWrapper::VelodyneHwMonitorRosWrapper(const rclcpp::NodeOptio
     current_snapshot.reset(new std::string(str));
 
     try {
-      info_model = GetPtreeValue(current_snapshot_tree, key_info_model);
-      info_serial = GetPtreeValue(current_snapshot_tree, key_info_serial);
-      RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-      RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
+      info_model_ = GetPtreeValue(current_snapshot_tree, key_info_model);
+      info_serial_ = GetPtreeValue(current_snapshot_tree, key_info_serial);
+      RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
+      RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
     } catch (boost::bad_lexical_cast & ex) {
-      RCLCPP_ERROR_STREAM(
-        this->get_logger(), this->get_name() << " Error:"
-                                             << "Can't get model and serial");
+      RCLCPP_ERROR(logger_, " Error: Can't get model and serial");
       return;
     }
 
@@ -143,484 +42,179 @@ VelodyneHwMonitorRosWrapper::VelodyneHwMonitorRosWrapper(const rclcpp::NodeOptio
   });
 }
 
-Status VelodyneHwMonitorRosWrapper::MonitorStart() { return interface_status_; }
-
-Status VelodyneHwMonitorRosWrapper::MonitorStop() { return Status::OK; }
-Status VelodyneHwMonitorRosWrapper::Shutdown() { return Status::OK; }
-
-Status VelodyneHwMonitorRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
+void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
 {
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status VelodyneHwMonitorRosWrapper::GetParameters(
-  drivers::VelodyneSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode =
-      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "velodyne", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "range from 300 to 1200, in increments of 60";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(300).set__to_value(1200).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "It may be safe if it is 5000 milliseconds or more...";
-    this->declare_parameter<uint16_t>("diag_span", 3000, descriptor);
-    diag_span_ = this->get_parameter("diag_span").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;  // because it affects initialization
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Showing advanced diagnostics";
-    this->declare_parameter<bool>("advanced_diagnostics", false, descriptor);
-    use_advanced_diagnostics = this->get_parameter("advanced_diagnostics").as_bool();
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-
-  return Status::OK;
-}
-
-void VelodyneHwMonitorRosWrapper::InitializeVelodyneDiagnostics()
-{
-  RCLCPP_INFO_STREAM(get_logger(), "InitializeVelodyneDiagnostics");
+  RCLCPP_INFO_STREAM(logger_, "InitializeVelodyneDiagnostics");
   using std::chrono_literals::operator""s;
   std::ostringstream os;
-  auto hardware_id = info_model + ": " + info_serial;
+  auto hardware_id = info_model_ + ": " + info_serial_;
   diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(get_logger(), "hardware_id" << hardware_id);
+  RCLCPP_INFO_STREAM(logger_, "hardware_id" << hardware_id);
 
-  if (use_advanced_diagnostics) {
+  if (show_advanced_diagnostics_) {
     diagnostics_updater_.add(
-      "velodyne_snapshot-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckSnapshot);
+      "velodyne_snapshot-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckSnapshot);
 
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_hv-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopHv);
-    if (sensor_configuration_.sensor_model != nebula::drivers::SensorModel::VELODYNE_VLP16) {
+      "velodyne_volt_temp_top_hv-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopHv);
+    if (sensor_configuration_->sensor_model != nebula::drivers::SensorModel::VELODYNE_VLP16) {
       diagnostics_updater_.add(
-        "velodyne_volt_temp_top_ad_temp-" + sensor_configuration_.frame_id, this,
-        &VelodyneHwMonitorRosWrapper::VelodyneCheckTopAdTemp);
+        "velodyne_volt_temp_top_ad_temp-" + sensor_configuration_->frame_id, this,
+        &VelodyneHwMonitorWrapper::VelodyneCheckTopAdTemp);
     }
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_lm20_temp-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopLm20Temp);
+      "velodyne_volt_temp_top_lm20_temp-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopLm20Temp);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_pwr_5v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr5v);
+      "velodyne_volt_temp_top_pwr_5v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopPwr5v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_pwr_2_5v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr25v);
+      "velodyne_volt_temp_top_pwr_2_5v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopPwr25v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_pwr_3_3v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr33v);
+      "velodyne_volt_temp_top_pwr_3_3v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopPwr33v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_pwr_raw-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwrRaw);
+      "velodyne_volt_temp_top_pwr_raw-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopPwrRaw);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_top_pwr_vccint-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwrVccint);
+      "velodyne_volt_temp_top_pwr_vccint-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckTopPwrVccint);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_i_out-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotIOut);
+      "velodyne_volt_temp_bot_i_out-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotIOut);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_1_2v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr12v);
+      "velodyne_volt_temp_bot_pwr_1_2v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwr12v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_lm20_temp-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotLm20Temp);
+      "velodyne_volt_temp_bot_lm20_temp-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotLm20Temp);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_5v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr5v);
+      "velodyne_volt_temp_bot_pwr_5v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwr5v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_2_5v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr25v);
+      "velodyne_volt_temp_bot_pwr_2_5v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwr25v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_3_3v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr33v);
+      "velodyne_volt_temp_bot_pwr_3_3v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwr33v);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_v_in-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwrVIn);
+      "velodyne_volt_temp_bot_pwr_v_in-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwrVIn);
     diagnostics_updater_.add(
-      "velodyne_volt_temp_bot_pwr_1_25v-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr125v);
+      "velodyne_volt_temp_bot_pwr_1_25v-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckBotPwr125v);
     diagnostics_updater_.add(
-      "velodyne_vhv-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckVhv);
+      "velodyne_vhv-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckVhv);
     diagnostics_updater_.add(
-      "velodyne_adc_nf-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckAdcNf);
+      "velodyne_adc_nf-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckAdcNf);
     diagnostics_updater_.add(
-      "velodyne_adc_stats-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckAdcStats);
+      "velodyne_adc_stats-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckAdcStats);
     diagnostics_updater_.add(
-      "velodyne_ixe-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckIxe);
+      "velodyne_ixe-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckIxe);
     diagnostics_updater_.add(
-      "velodyne_adctp_stat-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckAdctpStat);
+      "velodyne_adctp_stat-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckAdctpStat);
 
     diagnostics_updater_.add(
-      "velodyne_status_gps_pps_state-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckGpsPpsState);
+      "velodyne_status_gps_pps_state-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckGpsPpsState);
     diagnostics_updater_.add(
-      "velodyne_status_gps_pps_position-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckGpsPosition);
+      "velodyne_status_gps_pps_position-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckGpsPosition);
     diagnostics_updater_.add(
-      "velodyne_status_motor_state-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckMotorState);
+      "velodyne_status_motor_state-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckMotorState);
     diagnostics_updater_.add(
-      "velodyne_status_motor_rpm-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckMotorRpm);
+      "velodyne_status_motor_rpm-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckMotorRpm);
     diagnostics_updater_.add(
-      "velodyne_status_motor_lock-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckMotorLock);
+      "velodyne_status_motor_lock-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckMotorLock);
     diagnostics_updater_.add(
-      "velodyne_status_motor_phase-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckMotorPhase);
+      "velodyne_status_motor_phase-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckMotorPhase);
     diagnostics_updater_.add(
-      "velodyne_status_laser_state-" + sensor_configuration_.frame_id, this,
-      &VelodyneHwMonitorRosWrapper::VelodyneCheckLaserState);
+      "velodyne_status_laser_state-" + sensor_configuration_->frame_id, this,
+      &VelodyneHwMonitorWrapper::VelodyneCheckLaserState);
   }
 
   diagnostics_updater_.add(
-    "velodyne_status", this, &VelodyneHwMonitorRosWrapper::VelodyneCheckStatus);
-  diagnostics_updater_.add("velodyne_pps", this, &VelodyneHwMonitorRosWrapper::VelodyneCheckPps);
+    "velodyne_status", this, &VelodyneHwMonitorWrapper::VelodyneCheckStatus);
+  diagnostics_updater_.add("velodyne_pps", this, &VelodyneHwMonitorWrapper::VelodyneCheckPps);
   diagnostics_updater_.add(
-    "velodyne_temperature", this, &VelodyneHwMonitorRosWrapper::VelodyneCheckTemperature);
-  diagnostics_updater_.add("velodyne_rpm", this, &VelodyneHwMonitorRosWrapper::VelodyneCheckRpm);
+    "velodyne_temperature", this, &VelodyneHwMonitorWrapper::VelodyneCheckTemperature);
+  diagnostics_updater_.add("velodyne_rpm", this, &VelodyneHwMonitorWrapper::VelodyneCheckRpm);
   diagnostics_updater_.add(
-    "velodyne_voltage", this, &VelodyneHwMonitorRosWrapper::VelodyneCheckVoltage);
+    "velodyne_voltage", this, &VelodyneHwMonitorWrapper::VelodyneCheckVoltage);
 
   current_snapshot.reset(new std::string(""));
-  current_snapshot_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
   current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
   auto on_timer_snapshot = [this] { OnVelodyneSnapshotTimer(); };
-  diagnostics_snapshot_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_snapshot)>>(
-    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(on_timer_snapshot),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_snapshot_timer_, cbg_m_);
+  diagnostics_snapshot_timer_ = parent_node_->create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(on_timer_snapshot));
 
   auto on_timer_update = [this] {
-    auto now = this->get_clock()->now();
+    auto now = parent_node_->now();
     auto dif = (now - *current_snapshot_time).seconds();
     if (diag_span_ * 2.0 < dif * 1000) {
       current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
+      RCLCPP_DEBUG_STREAM(logger_, "STALE");
     } else {
       current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
+      RCLCPP_DEBUG_STREAM(logger_, "OK");
     }
     diagnostics_updater_.force_update();
   };
-  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
-    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
-}
-
-std::string VelodyneHwMonitorRosWrapper::GetPtreeValue(
-  std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return not_supported_message;
-  }
-}
-std::string VelodyneHwMonitorRosWrapper::GetFixedPrecisionString(double val, int pre)
-{
-  std::stringstream ss;
-  ss << std::fixed << std::setprecision(pre) << val;
-  return ss.str();
+  diagnostics_update_timer_ = parent_node_->create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
 }
 
-// https://memo.appri.me/programming/cpp-curl-http-client
-using namespace std;
-typedef void (*CurlCallback)(string err, string body);
-
-class Curl
-{
-private:
-  /** response body */
-  string body;
-
-  // see: https://curl.se/docs/faq.html#Using_C_non_static_functions_f
-  static size_t invoke_write_data(char * buffer, size_t size, size_t nmemb, void * f)
-  {
-    // Call non-static member function.
-    return static_cast<Curl *>(f)->write_data(buffer, size, nmemb, f);
-  }
-
-  /** a callback function for libcurl request */
-  size_t write_data(char * buffer, size_t size, size_t nmemb, void *)
-  {
-    int dataLength = size * nmemb;
-    this->body.append(buffer, dataLength);
-    return dataLength;
-  }
-
-public:
-  /** user-agent */
-  string useragent = "libcurl-agent/1.0";
-  /** timeout */
-  int timeout = 30L;  // timeout 30 seconds
-
-  /**
-   * Constructor
-   */
-  Curl()
-  {
-    //
-  }
-
-  /**
-   * HTTP GET
-   */
-  void get(const string url, const CurlCallback cb)
-  {
-    CURL * curl;
-    CURLcode ret;
-
-    this->body = "";  // init result body.
-    string err = "";
-
-    curl_global_init(CURL_GLOBAL_ALL);
-    curl = curl_easy_init();
-
-    if (curl == NULL) {
-      err = "curl_easy_init() failed on " + url;
-      return cb(err, "");
-    }
-
-    curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, this->invoke_write_data);
-    curl_easy_setopt(curl, CURLOPT_WRITEDATA, this);
-    curl_easy_setopt(curl, CURLOPT_USERAGENT, this->useragent.c_str());  // UA
-    curl_easy_setopt(curl, CURLOPT_TIMEOUT, this->timeout);              // timeout
-    // curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); // verbose
-    ret = curl_easy_perform(curl);
-    curl_easy_cleanup(curl);
-    curl_global_cleanup();
-
-    if (ret != CURLE_OK) {
-      err = "curl_easy_perform() failed on " + url + " (ret:" + to_string(ret) + ")";
-      return cb(err, "");
-    }
-    return cb(err, this->body);
-  }
-
-  /**
-   * HTTP POST
-   */
-  void post(const string url, const string data, const CurlCallback cb)
-  {
-    CURL * curl;
-    CURLcode ret;
-
-    this->body = "";  // init result body.
-    string err = "";
-
-    curl_global_init(CURL_GLOBAL_ALL);
-    curl = curl_easy_init();
-
-    if (curl == NULL) {
-      err = "curl_easy_init() failed on " + url;
-      return cb(err, "");
-    }
-
-    curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-    curl_easy_setopt(curl, CURLOPT_POST, 1);
-    curl_easy_setopt(curl, CURLOPT_POSTFIELDS, data.c_str());
-    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, this->invoke_write_data);
-    curl_easy_setopt(curl, CURLOPT_WRITEDATA, this);
-    curl_easy_setopt(curl, CURLOPT_USERAGENT, this->useragent.c_str());  // UA
-    curl_easy_setopt(curl, CURLOPT_TIMEOUT, this->timeout);              // timeout
-    // curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); // verbose
-    ret = curl_easy_perform(curl);
-    curl_easy_cleanup(curl);
-    curl_global_cleanup();
-
-    if (ret != CURLE_OK) {
-      err = "curl_easy_perform() failed on " + url + " (ret:" + to_string(ret) + ")";
-      return cb(err, "");
-    }
-    return cb(err, this->body);
-  }
-};
-
-void VelodyneHwMonitorRosWrapper::curl_callback(std::string err, std::string body)
+void VelodyneHwMonitorWrapper::OnVelodyneSnapshotTimer()
 {
-  if (err != "") {
-    RCLCPP_ERROR_STREAM(get_logger(), "curl_callback:" << err);
-  } else {
-    RCLCPP_INFO_STREAM(get_logger(), body);
+  hw_interface_->GetSnapshotAsync([this](const std::string & str) {
+    current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
+    current_snapshot_tree =
+      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
     current_diag_tree =
-      std::make_shared<boost::property_tree::ptree>(hw_interface_.ParseJson(body));
-    RCLCPP_DEBUG_STREAM(get_logger(), "diagnostics_updater_.force_update()");
-    diagnostics_updater_.force_update();
-  }
+      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
+    current_status_tree =
+      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("status"));
+    current_snapshot.reset(new std::string(str));
+  });
 }
 
-void VelodyneHwMonitorRosWrapper::OnVelodyneDiagnosticsTimer()
+void VelodyneHwMonitorWrapper::OnVelodyneDiagnosticsTimer()
 {
   std::cout << "OnVelodyneDiagnosticsTimer" << std::endl;
-  if (mtx_diag.try_lock() || true) {
+  if (tm_diag_.try_lock_for(std::chrono::milliseconds(500))) {
     std::cout << "mtx_diag lock" << std::endl;
-    hw_interface_.GetDiagAsync([this](const std::string & str) {
+    hw_interface_->GetDiagAsync([this](const std::string & str) {
       current_diag_tree =
-        std::make_shared<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
+        std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
       diagnostics_updater_.force_update();
-      mtx_diag.unlock();
+      tm_diag_.unlock();
       std::cout << "mtx_diag unlock" << std::endl;
     });
+
+    if (!tm_diag_.try_lock_for(std::chrono::milliseconds(500))) {
+      RCLCPP_ERROR(logger_, "GetDiagAsync callback timed out");
+      return;
+    }
+
+    tm_diag_.unlock();
   } else {
-    std::cout << "mtx_diag is locked..." << std::endl;
+      RCLCPP_ERROR(logger_, "Wait for GetDiagAsync mutex timed out");
   }
 }
 
-std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper::VelodyneGetTopHv()
+std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::VelodyneGetTopHv()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -647,7 +241,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper:
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopAdTemp()
+VelodyneHwMonitorWrapper::VelodyneGetTopAdTemp()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -667,7 +261,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopAdTemp()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopLm20Temp()
+VelodyneHwMonitorWrapper::VelodyneGetTopLm20Temp()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -696,7 +290,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopLm20Temp()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr5v()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwr5v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -723,7 +317,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr5v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr25v()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwr25v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -750,7 +344,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr25v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr33v()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwr33v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -777,7 +371,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr33v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr5vRaw()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwr5vRaw()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -805,7 +399,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwr5vRaw()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwrRaw()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwrRaw()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -832,7 +426,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwrRaw()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetTopPwrVccint()
+VelodyneHwMonitorWrapper::VelodyneGetTopPwrVccint()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -861,7 +455,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetTopPwrVccint()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotIOut()
+VelodyneHwMonitorWrapper::VelodyneGetBotIOut()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -888,7 +482,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotIOut()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr12v()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwr12v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -915,7 +509,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr12v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotLm20Temp()
+VelodyneHwMonitorWrapper::VelodyneGetBotLm20Temp()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -944,7 +538,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotLm20Temp()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr5v()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwr5v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -971,7 +565,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr5v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr25v()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwr25v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -998,7 +592,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr25v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr33v()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwr33v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1025,7 +619,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr33v()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwrVIn()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwrVIn()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1052,7 +646,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwrVIn()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr125v()
+VelodyneHwMonitorWrapper::VelodyneGetBotPwr125v()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1079,7 +673,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetBotPwr125v()
   return std::make_tuple(not_ex, level, mes, error_mes);
 }
 
-std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper::VelodyneGetVhv()
+std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::VelodyneGetVhv()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1097,7 +691,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper:
   return std::make_tuple(not_ex, level, mes, error_mes);
 }
 
-std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper::VelodyneGetAdcNf()
+std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::VelodyneGetAdcNf()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1125,7 +719,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper:
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetAdcStats()
+VelodyneHwMonitorWrapper::VelodyneGetAdcStats()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1155,7 +749,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetAdcStats()
   return std::make_tuple(not_ex, level, mes, error_mes);
 }
 
-std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper::VelodyneGetIxe()
+std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::VelodyneGetIxe()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1172,7 +766,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorRosWrapper:
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetAdctpStat()
+VelodyneHwMonitorWrapper::VelodyneGetAdctpStat()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1200,7 +794,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetAdctpStat()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetGpsPpsState()
+VelodyneHwMonitorWrapper::VelodyneGetGpsPpsState()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1224,7 +818,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetGpsPpsState()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetGpsPosition()
+VelodyneHwMonitorWrapper::VelodyneGetGpsPosition()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1241,7 +835,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetGpsPosition()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetMotorState()
+VelodyneHwMonitorWrapper::VelodyneGetMotorState()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1258,7 +852,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetMotorState()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetMotorRpm()
+VelodyneHwMonitorWrapper::VelodyneGetMotorRpm()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1275,7 +869,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetMotorRpm()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetMotorLock()
+VelodyneHwMonitorWrapper::VelodyneGetMotorLock()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1292,7 +886,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetMotorLock()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetMotorPhase()
+VelodyneHwMonitorWrapper::VelodyneGetMotorPhase()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1309,7 +903,7 @@ VelodyneHwMonitorRosWrapper::VelodyneGetMotorPhase()
 }
 
 std::tuple<bool, uint8_t, std::string, std::string>
-VelodyneHwMonitorRosWrapper::VelodyneGetLaserState()
+VelodyneHwMonitorWrapper::VelodyneGetLaserState()
 {
   bool not_ex = true;
   uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
@@ -1325,383 +919,373 @@ VelodyneHwMonitorRosWrapper::VelodyneGetLaserState()
   return std::make_tuple(not_ex, level, mes, error_mes);
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopHv(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopHv(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopHv();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopAdTemp(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopAdTemp(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopAdTemp();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopLm20Temp(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopLm20Temp(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopLm20Temp();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr5v(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopPwr5v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopPwr5v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr25v(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopPwr25v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopPwr25v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwr33v(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopPwr33v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopPwr33v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwrRaw(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopPwrRaw(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopPwrRaw();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTopPwrVccint(
+void VelodyneHwMonitorWrapper::VelodyneCheckTopPwrVccint(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetTopPwrVccint();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotIOut(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotIOut(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotIOut();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr12v(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwr12v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwr12v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotLm20Temp(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotLm20Temp(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotLm20Temp();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr5v(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwr5v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwr5v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr25v(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwr25v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwr25v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr33v(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwr33v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwr33v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwrVIn(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwrVIn(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwrVIn();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckBotPwr125v(
+void VelodyneHwMonitorWrapper::VelodyneCheckBotPwr125v(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetBotPwr125v();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckVhv(
+void VelodyneHwMonitorWrapper::VelodyneCheckVhv(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetVhv();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckAdcNf(
+void VelodyneHwMonitorWrapper::VelodyneCheckAdcNf(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetAdcNf();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckAdcStats(
+void VelodyneHwMonitorWrapper::VelodyneCheckAdcStats(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetAdcStats();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckIxe(
+void VelodyneHwMonitorWrapper::VelodyneCheckIxe(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetIxe();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckAdctpStat(
+void VelodyneHwMonitorWrapper::VelodyneCheckAdctpStat(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     auto tpl = VelodyneGetAdctpStat();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::OnVelodyneStatusTimer()
+void VelodyneHwMonitorWrapper::OnVelodyneStatusTimer()
 {
-  if (mtx_status.try_lock()) {
-    hw_interface_.GetStatusAsync([this](const std::string & str) {
-      current_status_tree =
-        std::make_shared<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-      diagnostics_updater_.force_update();
-      mtx_status.unlock();
-    });
+  tm_status_.lock();
+  hw_interface_->GetStatusAsync([this](const std::string & str) {
+    current_status_tree =
+      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+    diagnostics_updater_.force_update();
+    tm_status_.unlock();
+  });
+
+  if (!tm_status_.try_lock_for(std::chrono::seconds(1))) {
+    RCLCPP_ERROR(logger_, "Sensor status request timed out!");
   }
+
+  tm_status_.unlock();
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckGpsPpsState(
+void VelodyneHwMonitorWrapper::VelodyneCheckGpsPpsState(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetGpsPpsState();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckGpsPosition(
+void VelodyneHwMonitorWrapper::VelodyneCheckGpsPosition(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetGpsPosition();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckMotorState(
+void VelodyneHwMonitorWrapper::VelodyneCheckMotorState(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetMotorState();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckMotorRpm(
+void VelodyneHwMonitorWrapper::VelodyneCheckMotorRpm(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetMotorRpm();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckMotorLock(
+void VelodyneHwMonitorWrapper::VelodyneCheckMotorLock(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetMotorLock();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckMotorPhase(
+void VelodyneHwMonitorWrapper::VelodyneCheckMotorPhase(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetMotorPhase();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckLaserState(
+void VelodyneHwMonitorWrapper::VelodyneCheckLaserState(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     auto tpl = VelodyneGetLaserState();
-    diagnostics.add("sensor", sensor_configuration_.frame_id);
+    diagnostics.add("sensor", sensor_configuration_->frame_id);
     diagnostics.summary(std::get<1>(tpl), std::get<2>(tpl));
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckSnapshot(
+void VelodyneHwMonitorWrapper::VelodyneCheckSnapshot(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   uint8_t level = current_diag_status;
-  diagnostics.add("sensor", sensor_configuration_.frame_id);
+  diagnostics.add("sensor", sensor_configuration_->frame_id);
   diagnostics.summary(level, *current_snapshot);
-  //  }
 }
 
-void VelodyneHwMonitorRosWrapper::OnVelodyneSnapshotTimer()
-{
-  hw_interface_.GetSnapshotAsync([this](const std::string & str) {
-    current_snapshot_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_snapshot_tree =
-      std::make_shared<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-    current_diag_tree =
-      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
-    current_status_tree =
-      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("status"));
-    current_snapshot.reset(new std::string(str));
-  });
-}
-
-void VelodyneHwMonitorRosWrapper::VelodyneCheckStatus(
+void VelodyneHwMonitorWrapper::VelodyneCheckStatus(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
@@ -1727,12 +1311,12 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckStatus(
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckPps(
+void VelodyneHwMonitorWrapper::VelodyneCheckPps(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_status_tree &&
-    !VelodyneHwMonitorRosWrapper::current_status_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_status_tree &&
+    !VelodyneHwMonitorWrapper::current_status_tree->empty()) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
@@ -1758,12 +1342,12 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckPps(
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckTemperature(
+void VelodyneHwMonitorWrapper::VelodyneCheckTemperature(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
@@ -1789,12 +1373,12 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckTemperature(
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckRpm(
+void VelodyneHwMonitorWrapper::VelodyneCheckRpm(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
@@ -1820,12 +1404,12 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckRpm(
   }
 }
 
-void VelodyneHwMonitorRosWrapper::VelodyneCheckVoltage(
+void VelodyneHwMonitorWrapper::VelodyneCheckVoltage(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   if (
-    VelodyneHwMonitorRosWrapper::current_diag_tree &&
-    !VelodyneHwMonitorRosWrapper::current_diag_tree->empty()) {
+    VelodyneHwMonitorWrapper::current_diag_tree &&
+    !VelodyneHwMonitorWrapper::current_diag_tree->empty()) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
@@ -1865,7 +1449,7 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckVoltage(
     }
     diagnostics.add(name_volt_temp_top_pwr_3_3v, std::get<2>(tpl));
 
-    if (sensor_configuration_.sensor_model == nebula::drivers::SensorModel::VELODYNE_VLP16) {
+    if (sensor_configuration_->sensor_model == nebula::drivers::SensorModel::VELODYNE_VLP16) {
       tpl = VelodyneGetTopPwr5vRaw();
       if (std::get<0>(tpl)) {
         level = std::max(level, std::get<1>(tpl));
@@ -1961,36 +1545,27 @@ void VelodyneHwMonitorRosWrapper::VelodyneCheckVoltage(
   }
 }
 
-rcl_interfaces::msg::SetParametersResult VelodyneHwMonitorRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
+std::string VelodyneHwMonitorWrapper::GetPtreeValue(
+  std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key)
 {
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_INFO_STREAM(get_logger(), p);
-  RCLCPP_INFO_STREAM(get_logger(), sensor_configuration_);
-
-  drivers::VelodyneSensorConfiguration new_param{sensor_configuration_};
-
-  std::cout << new_param << std::endl;
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  uint16_t new_diag_span = 0;
-  if (get_param(p, "diag_span", new_diag_span)) {
-    sensor_configuration_ = new_param;
-    // Update sensor_configuration
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration_);
-    RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
+  boost::optional<std::string> value = pt->get_optional<std::string>(key);
+  if (value) {
+    return value.get();
+  } else {
+    return not_supported_message;
   }
+}
 
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  std::cout << "add_on_set_parameters_callback success" << std::endl;
+std::string VelodyneHwMonitorWrapper::GetFixedPrecisionString(double val, int pre)
+{
+  std::stringstream ss;
+  ss << std::fixed << std::setprecision(pre) << val;
+  return ss.str();
+}
 
-  return *result;
+Status VelodyneHwMonitorWrapper::Status()
+{
+  return Status::NOT_IMPLEMENTED;  // TODO
 }
-RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneHwMonitorRosWrapper)
 }  // namespace ros
-}  // namespace nebula
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
deleted file mode 100644
index df484a27a..000000000
--- a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
+++ /dev/null
@@ -1,281 +0,0 @@
-#include "nebula_ros/velodyne/velodyne_decoder_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-VelodyneDriverRosWrapper::VelodyneDriverRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("velodyne_driver_ros_wrapper", options)
-{
-  drivers::VelodyneCalibrationConfiguration calibration_configuration;
-  drivers::VelodyneSensorConfiguration sensor_configuration;
-
-  wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return;
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-  calibration_cfg_ptr_ =
-    std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
-
-  sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  wrapper_status_ = InitializeDriver(
-    std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-    std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
-
-  velodyne_scan_sub_ = create_subscription<velodyne_msgs::msg::VelodyneScan>(
-    "velodyne_packets", rclcpp::SensorDataQoS(),
-    std::bind(&VelodyneDriverRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
-  nebula_points_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
-    "velodyne_points", rclcpp::SensorDataQoS());
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
-}
-
-void VelodyneDriverRosWrapper::ReceiveScanMsgCallback(
-  const velodyne_msgs::msg::VelodyneScan::SharedPtr scan_msg)
-{
-  auto t_start = std::chrono::high_resolution_clock::now();
-
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ConvertScanToPointcloud(scan_msg);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-  double cloud_stamp = std::get<1>(pointcloud_ts);
-  if (pointcloud == nullptr) {
-    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
-    return;
-  };
-  if (
-    nebula_points_pub_->get_subscription_count() > 0 ||
-    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-  }
-  if (
-    aw_points_base_pub_->get_subscription_count() > 0 ||
-    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_cloud_xyzi =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-  }
-  if (
-    aw_points_ex_pub_->get_subscription_count() > 0 ||
-    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, cloud_stamp);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-  }
-
-  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
-}
-
-void VelodyneDriverRosWrapper::PublishCloud(
-  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
-{
-  if (pointcloud->header.stamp.sec < 0) {
-    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
-  }
-  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
-  publisher->publish(std::move(pointcloud));
-}
-
-Status VelodyneDriverRosWrapper::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(
-    std::static_pointer_cast<drivers::VelodyneSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::VelodyneCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status VelodyneDriverRosWrapper::GetStatus() { return wrapper_status_; }
-
-Status VelodyneDriverRosWrapper::GetParameters(
-  drivers::VelodyneSensorConfiguration & sensor_configuration,
-  drivers::VelodyneCalibrationConfiguration & calibration_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode =
-      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "velodyne", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_configuration.calibration_file =
-      this->get_parameter("calibration_file").as_string();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
-  }
-  double view_direction;
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("view_direction", 0., descriptor);
-    view_direction = this->get_parameter("view_direction").as_double();
-  }
-  double view_width = 2.0 * M_PI;
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("view_width", 2.0 * M_PI, descriptor);
-    view_width = this->get_parameter("view_width").as_double();
-  }
-
-  if (sensor_configuration.sensor_model != nebula::drivers::SensorModel::VELODYNE_HDL64) {
-    {
-      rcl_interfaces::msg::ParameterDescriptor descriptor;
-      descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-      descriptor.read_only = false;
-      descriptor.dynamic_typing = false;
-      descriptor.additional_constraints = "";
-      rcl_interfaces::msg::IntegerRange range;
-      range.set__from_value(0).set__to_value(360).set__step(1);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-      sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-    }
-    {
-      rcl_interfaces::msg::ParameterDescriptor descriptor;
-      descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-      descriptor.read_only = false;
-      descriptor.dynamic_typing = false;
-      descriptor.additional_constraints = "";
-      rcl_interfaces::msg::IntegerRange range;
-      range.set__from_value(0).set__to_value(360).set__step(1);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-      sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-    }
-  } else {
-    double min_angle = fmod(fmod(view_direction + view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
-    double max_angle = fmod(fmod(view_direction - view_width / 2, 2 * M_PI) + 2 * M_PI, 2 * M_PI);
-    sensor_configuration.cloud_min_angle = 100 * (2 * M_PI - min_angle) * 180 / M_PI + 0.5;
-    sensor_configuration.cloud_max_angle = 100 * (2 * M_PI - max_angle) * 180 / M_PI + 0.5;
-    if (sensor_configuration.cloud_min_angle == sensor_configuration.cloud_max_angle) {
-      // avoid returning empty cloud if min_angle = max_angle
-      sensor_configuration.cloud_min_angle = 0;
-      sensor_configuration.cloud_max_angle = 36000;
-    }
-  }
-
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  if (calibration_configuration.calibration_file.empty()) {
-    return Status::INVALID_CALIBRATION_FILE;
-  } else {
-    auto cal_status =
-      calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
-    if (cal_status != Status::OK) {
-      RCLCPP_ERROR_STREAM(
-        this->get_logger(),
-        "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
-      return cal_status;
-    }
-  }
-
-  RCLCPP_INFO_STREAM(
-    this->get_logger(), "Sensor model: " << sensor_configuration.sensor_model
-                                         << ", Return mode: " << sensor_configuration.return_mode
-                                         << ", Scan Phase: " << sensor_configuration.scan_phase);
-  return Status::OK;
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneDriverRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/velodyne/velodyne_hw_interface_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_hw_interface_ros_wrapper.cpp
deleted file mode 100644
index cbbc19e05..000000000
--- a/nebula_ros/src/velodyne/velodyne_hw_interface_ros_wrapper.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-#include "nebula_ros/velodyne/velodyne_hw_interface_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-VelodyneHwInterfaceRosWrapper::VelodyneHwInterfaceRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("velodyne_hw_interface_ros_wrapper", options), hw_interface_()
-{
-  not_supported_message = "Not supported";
-
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  // Initialize sensor_configuration
-  RCLCPP_INFO_STREAM(this->get_logger(), "Initialize sensor_configuration");
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.InitializeSensorConfiguration");
-  hw_interface_.InitializeSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-
-  if (this->setup_sensor) {
-    RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-    updateParameters();
-  }
-
-  // register scan callback and publisher
-  hw_interface_.RegisterScanCallback(std::bind(
-    &VelodyneHwInterfaceRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
-  velodyne_scan_pub_ = this->create_publisher<velodyne_msgs::msg::VelodyneScan>(
-    "velodyne_packets",
-    rclcpp::SensorDataQoS(rclcpp::KeepLast(10)).best_effort().durability_volatile());
-
-  if (this->setup_sensor) {
-    set_param_res_ = this->add_on_set_parameters_callback(
-      std::bind(&VelodyneHwInterfaceRosWrapper::paramCallback, this, std::placeholders::_1));
-  }
-
-  auto status = StreamStart();
-  if (status == nebula::Status::OK) {
-    RCLCPP_INFO_STREAM(get_logger(), "UDP Driver Started");
-  } else {
-    RCLCPP_ERROR_STREAM(get_logger(), status);
-  }
-}
-
-Status VelodyneHwInterfaceRosWrapper::StreamStart()
-{
-  if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.SensorInterfaceStart();
-  }
-  return interface_status_;
-}
-
-Status VelodyneHwInterfaceRosWrapper::StreamStop() { return Status::OK; }
-Status VelodyneHwInterfaceRosWrapper::Shutdown() { return Status::OK; }
-
-Status VelodyneHwInterfaceRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status VelodyneHwInterfaceRosWrapper::GetParameters(
-  drivers::VelodyneSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode =
-      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "velodyne", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "range from 300 to 1200, in increments of 60";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(300).set__to_value(1200).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("setup_sensor", true, descriptor);
-    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
-  }
-
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-void VelodyneHwInterfaceRosWrapper::ReceiveScanDataCallback(
-  std::unique_ptr<velodyne_msgs::msg::VelodyneScan> scan_buffer)
-{
-  // Publish
-  scan_buffer->header.frame_id = sensor_configuration_.frame_id;
-  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
-  velodyne_scan_pub_->publish(*scan_buffer);
-}
-
-std::string VelodyneHwInterfaceRosWrapper::GetPtreeValue(
-  std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return not_supported_message;
-  }
-}
-
-rcl_interfaces::msg::SetParametersResult VelodyneHwInterfaceRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
-{
-  std::scoped_lock lock(mtx_config_);
-  std::cout << "add_on_set_parameters_callback" << std::endl;
-  std::cout << p << std::endl;
-  std::cout << sensor_configuration_ << std::endl;
-
-  drivers::VelodyneSensorConfiguration new_param{sensor_configuration_};
-  std::cout << new_param << std::endl;
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  if (
-    get_param(p, "sensor_model", sensor_model_str) ||
-    get_param(p, "return_mode", return_mode_str) || get_param(p, "host_ip", new_param.host_ip) ||
-    get_param(p, "sensor_ip", new_param.sensor_ip) ||
-    get_param(p, "frame_id", new_param.frame_id) ||
-    get_param(p, "data_port", new_param.data_port) ||
-    get_param(p, "gnss_port", new_param.gnss_port) ||
-    get_param(p, "scan_phase", new_param.scan_phase) ||
-    get_param(p, "packet_mtu_size", new_param.packet_mtu_size) ||
-    get_param(p, "rotation_speed", new_param.rotation_speed) ||
-    get_param(p, "cloud_min_angle", new_param.cloud_min_angle) ||
-    get_param(p, "cloud_max_angle", new_param.cloud_max_angle)) {  // ||
-
-    if (0 < sensor_model_str.length())
-      new_param.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
-    if (0 < return_mode_str.length())
-      new_param.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
-
-    sensor_configuration_ = new_param;
-    // Update sensor_configuration
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration_);
-    RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-  }
-
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  std::cout << "add_on_set_parameters_callback success" << std::endl;
-
-  return *result;
-}
-
-std::vector<rcl_interfaces::msg::SetParametersResult>
-VelodyneHwInterfaceRosWrapper::updateParameters()
-{
-  std::scoped_lock lock(mtx_config_);
-  std::cout << "!!!!!!!!!!!updateParameters!!!!!!!!!!!!" << std::endl;
-  std::ostringstream os_sensor_model;
-  os_sensor_model << sensor_configuration_.sensor_model;
-  std::ostringstream os_return_mode;
-  os_return_mode << sensor_configuration_.return_mode;
-  std::cout << "set_parameters start" << std::endl;
-  auto results = set_parameters({
-    rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-    rclcpp::Parameter("return_mode", os_return_mode.str()),
-    rclcpp::Parameter("host_ip", sensor_configuration_.host_ip),
-    rclcpp::Parameter("sensor_ip", sensor_configuration_.sensor_ip),
-    rclcpp::Parameter("frame_id", sensor_configuration_.frame_id),
-    rclcpp::Parameter("data_port", sensor_configuration_.data_port),
-    rclcpp::Parameter("gnss_port", sensor_configuration_.gnss_port),
-    rclcpp::Parameter("scan_phase", sensor_configuration_.scan_phase),
-    rclcpp::Parameter("packet_mtu_size", sensor_configuration_.packet_mtu_size),
-    rclcpp::Parameter("rotation_speed", sensor_configuration_.rotation_speed),
-    rclcpp::Parameter("cloud_min_angle", sensor_configuration_.cloud_min_angle),
-    rclcpp::Parameter("cloud_max_angle", sensor_configuration_.cloud_max_angle)  //,
-  });
-  std::cout << "set_parameters fin" << std::endl;
-  return results;
-}
-RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneHwInterfaceRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
new file mode 100644
index 000000000..88df4a529
--- /dev/null
+++ b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
@@ -0,0 +1,265 @@
+#include "nebula_ros/velodyne/velodyne_ros_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+VelodyneRosWrapper::VelodyneRosWrapper(const rclcpp::NodeOptions& options)
+  : rclcpp::Node("velodyne_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true))
+  , wrapper_status_(Status::NOT_INITIALIZED)
+  , sensor_cfg_ptr_(nullptr)
+  , packet_queue_(3000)
+  , hw_interface_wrapper_()
+  , hw_monitor_wrapper_()
+  , decoder_wrapper_()
+{
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  wrapper_status_ = DeclareAndGetSensorConfigParams();
+
+  if (wrapper_status_ != Status::OK)
+  {
+    throw std::runtime_error((std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+  }
+
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+
+  launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
+
+  if (launch_hw_)
+  {
+    hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
+    hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->HwInterface(), sensor_cfg_ptr_);
+  }
+
+  decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
+                           sensor_cfg_ptr_);
+
+  RCLCPP_DEBUG(get_logger(), "Starting stream");
+
+  decoder_thread_ = std::thread([this]() {
+    while (true)
+    {
+      decoder_wrapper_->ProcessCloudPacket(std::move(packet_queue_.pop()));
+    }
+  });
+
+  if (launch_hw_)
+  {
+    hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
+        std::bind(&VelodyneRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+    StreamStart();
+  }
+  else
+  {
+    packets_sub_ = create_subscription<velodyne_msgs::msg::VelodyneScan>(
+        "velodyne_packets", rclcpp::SensorDataQoS(),
+        std::bind(&VelodyneRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+    RCLCPP_INFO_STREAM(get_logger(),
+                       "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
+  }
+
+  // Register parameter callback after all params have been declared. Otherwise it would be called once for each
+  // declaration
+  parameter_event_cb_ =
+      add_on_set_parameters_callback(std::bind(&VelodyneRosWrapper::OnParameterChange, this, std::placeholders::_1));
+}
+
+nebula::Status VelodyneRosWrapper::DeclareAndGetSensorConfigParams()
+{
+  nebula::drivers::VelodyneSensorConfiguration config;
+
+  auto _sensor_model = declare_parameter<std::string>("sensor_model", "", param_read_only());
+  config.sensor_model = drivers::SensorModelFromString(_sensor_model);
+
+  auto _return_mode = declare_parameter<std::string>("return_mode", "", param_read_write());
+  config.return_mode = drivers::ReturnModeFromString(_return_mode);
+
+  config.host_ip = declare_parameter<std::string>("host_ip", "255.255.255.255", param_read_only());
+  config.sensor_ip = declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
+  config.data_port = declare_parameter<uint16_t>("data_port", 2368, param_read_only());
+  config.gnss_port = declare_parameter<uint16_t>("gnss_port", 2369, param_read_only());
+  config.frame_id = declare_parameter<std::string>("frame_id", "pandar", param_read_write());
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.])";
+    descriptor.floating_point_range = float_range(0, 360, 0.01);
+    config.scan_phase = declare_parameter<double>("scan_phase", 0., descriptor);
+  }
+
+  config.min_range = declare_parameter<double>("min_range", 0.3, param_read_write());
+  config.max_range = declare_parameter<double>("max_range", 300., param_read_write());
+  config.packet_mtu_size = declare_parameter<uint16_t>("packet_mtu_size", 1500, param_read_only());
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.additional_constraints = "from 300 to 1200, in increments of 60";
+    descriptor.integer_range = int_range(300, 1200, 60);
+    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_min_angle = declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_max_angle = declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+  }
+
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::VelodyneSensorConfiguration>(config);
+  return ValidateAndSetConfig(new_cfg_ptr);
+}
+
+Status VelodyneRosWrapper::ValidateAndSetConfig(std::shared_ptr<const drivers::VelodyneSensorConfiguration>& new_config)
+{
+  if (new_config->sensor_model == nebula::drivers::SensorModel::UNKNOWN)
+  {
+    return Status::INVALID_SENSOR_MODEL;
+  }
+  if (new_config->return_mode == nebula::drivers::ReturnMode::UNKNOWN)
+  {
+    return Status::INVALID_ECHO_MODE;
+  }
+  if (new_config->frame_id.empty())
+  {
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+
+  if (hw_interface_wrapper_)
+  {
+    hw_interface_wrapper_->OnConfigChange(new_config);
+  }
+  if (hw_monitor_wrapper_)
+  {
+    hw_monitor_wrapper_->OnConfigChange(new_config);
+  }
+  if (decoder_wrapper_)
+  {
+    decoder_wrapper_->OnConfigChange(new_config);
+  }
+
+  sensor_cfg_ptr_ = new_config;
+  return Status::OK;
+}
+
+void VelodyneRosWrapper::ReceiveScanMessageCallback(std::unique_ptr<velodyne_msgs::msg::VelodyneScan> scan_msg)
+{
+  if (hw_interface_wrapper_)
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000,
+                          "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+    return;
+  }
+
+  for (auto& pkt : scan_msg->packets)
+  {
+    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+    nebula_pkt_ptr->stamp = pkt.stamp;
+    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
+
+    packet_queue_.push(std::move(nebula_pkt_ptr));
+  }
+}
+
+Status VelodyneRosWrapper::GetStatus()
+{
+  return wrapper_status_;
+}
+
+Status VelodyneRosWrapper::StreamStart()
+{
+  if (!hw_interface_wrapper_)
+  {
+    return Status::UDP_CONNECTION_ERROR;
+  }
+
+  if (hw_interface_wrapper_->Status() != Status::OK)
+  {
+    return hw_interface_wrapper_->Status();
+  }
+
+  return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
+}
+
+rcl_interfaces::msg::SetParametersResult VelodyneRosWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+{
+  using namespace rcl_interfaces::msg;
+
+  if (p.empty())
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
+  std::scoped_lock lock(mtx_config_);
+
+  RCLCPP_INFO(get_logger(), "OnParameterChange");
+
+  drivers::VelodyneSensorConfiguration new_cfg(*sensor_cfg_ptr_);
+
+  std::string _return_mode = "";
+  bool got_any = get_param(p, "return_mode", _return_mode) | get_param(p, "frame_id", new_cfg.frame_id) |
+                 get_param(p, "scan_phase", new_cfg.scan_phase) | get_param(p, "min_range", new_cfg.min_range) |
+                 get_param(p, "max_range", new_cfg.max_range) | get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+                 get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+                 get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle);
+
+  // Currently, HW interface and monitor wrappers have only read-only parameters, so their update logic is not
+  // implemented
+  if (decoder_wrapper_)
+  {
+    auto result = decoder_wrapper_->OnParameterChange(p);
+    if (!result.successful) {
+      return result;
+    }
+  }
+
+  if (!got_any)
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
+  if (_return_mode.length() > 0)
+    new_cfg.return_mode = nebula::drivers::ReturnModeFromString(_return_mode);
+
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::VelodyneSensorConfiguration>(new_cfg);
+  auto status = ValidateAndSetConfig(new_cfg_ptr);
+
+  if (status != Status::OK)
+  {
+    RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    return result;
+  }
+
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+}
+
+void VelodyneRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
+{
+  if (!decoder_wrapper_ || decoder_wrapper_->Status() != Status::OK)
+  {
+    return;
+  }
+
+  const auto now = std::chrono::high_resolution_clock::now();
+  const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
+
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
+  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
+  msg_ptr->data.swap(packet);
+
+  if (!packet_queue_.try_push(std::move(msg_ptr)))
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
+  }
+}
+
+RCLCPP_COMPONENTS_REGISTER_NODE(VelodyneRosWrapper)
+}  // namespace ros
+}  // namespace nebula

From 8d1f47039be857a92e4f712471bc80feddd6b5b3 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:32:17 +0900
Subject: [PATCH 050/122] fix(velodyne_decoders): after  the last commit, point
 clouds weren't reset correctly. fixed  in this  commit

---
 .../decoders/velodyne_scan_decoder.hpp        | 58 +++++++++++++------
 .../decoders/vlp16_decoder.hpp                |  3 +-
 .../decoders/vlp32_decoder.hpp                |  3 +-
 .../decoders/vls128_decoder.hpp               |  3 +-
 .../decoders/vlp16_decoder.cpp                |  6 +-
 .../decoders/vlp32_decoder.cpp                |  6 +-
 .../decoders/vls128_decoder.cpp               |  6 +-
 .../velodyne_driver.cpp                       |  2 +-
 8 files changed, 52 insertions(+), 35 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index 8c35f105f..1d8cb9255 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -133,7 +133,44 @@ enum RETURN_TYPE {
 /// @brief Base class for Velodyne LiDAR decoder
 class VelodyneScanDecoder
 {
+private: 
+  size_t processed_packets_;
+  uint32_t prev_packet_first_azm_phased_;
+  bool has_scanned_;
+
 protected:
+  /// @brief Checks if the current packet completes the ongoing scan.
+  /// TODO: this has been moved from velodyne_hw_interface.cpp and is a temporary solution until
+  /// the Velodyne decoder uses the same structure as Hesai/Robosense
+  /// @param packet The packet buffer to extract azimuths from
+  /// @param packet_seconds The seconds-since-epoch part of the packet's timestamp
+  /// @param phase The sensor's scan phase used for scan cutting
+  void checkAndHandleScanComplete(const std::vector<uint8_t> & packet, int32_t packet_seconds, const uint32_t phase) {
+    if  (has_scanned_) {
+      processed_packets_ = 0;
+      reset_pointcloud(packet_seconds);
+    }
+    
+    has_scanned_ = false;
+    processed_packets_++;
+
+    // Check if scan is complete
+    uint32_t packet_first_azm = packet[2];  // lower word of azimuth block 0
+    packet_first_azm |= packet[3] << 8;  // higher word of azimuth block 0
+
+    uint32_t packet_last_azm = packet[1102];
+    packet_last_azm |= packet[1103] << 8;
+
+    uint32_t packet_first_azm_phased = (36000 + packet_first_azm - phase) % 36000;
+    uint32_t packet_last_azm_phased = (36000 + packet_last_azm - phase) % 36000;
+
+    has_scanned_ =
+      processed_packets_ > 1 && (packet_last_azm_phased < packet_first_azm_phased ||
+                                 packet_first_azm_phased < prev_packet_first_azm_phased_);
+
+    prev_packet_first_azm_phased_ = packet_first_azm_phased;
+  }
+
   /// @brief Decoded point cloud
   drivers::NebulaPointCloudPtr scan_pc_;
   /// @brief Point cloud overflowing from one cycle
@@ -168,23 +205,7 @@ class VelodyneScanDecoder
   /// @brief Virtual function for getting the flag indicating whether one cycle is ready
   /// @return Readied
   virtual bool hasScanned() {
-    if (scan_pc_->size() < 2) {
-      return false;
-    }
-
-    float scan_phase = angles::from_degrees(sensor_configuration_->scan_phase);
-    float first_azimuth = scan_pc_->points.front().azimuth - scan_phase;
-    float last_azimuth = scan_pc_->points.back().azimuth - scan_phase;
-
-    if (first_azimuth < 0) {
-      first_azimuth += 2 * M_PI;
-    }
-
-    if (last_azimuth < 0) {
-      last_azimuth += 2 * M_PI;
-    }
-
-    return first_azimuth > last_azimuth;
+    return has_scanned_;
   }
 
   /// @brief Calculation of points in each packet
@@ -195,8 +216,7 @@ class VelodyneScanDecoder
   /// @return tuple of Point cloud and timestamp
   virtual std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() = 0;
   /// @brief Resetting point cloud buffer
-  /// @param n_pts # of points
-  virtual void reset_pointcloud(size_t n_pts, double time_stamp) = 0;
+  virtual void reset_pointcloud(double time_stamp) = 0;
   /// @brief Resetting overflowed point cloud buffer
   virtual void reset_overflow(double time_stamp) = 0;
 };
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
index 3829a2d70..be920a3e1 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp
@@ -37,8 +37,7 @@ class Vlp16Decoder : public VelodyneScanDecoder
   /// @return tuple of Point cloud and timestamp
   std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() override;
   /// @brief Resetting point cloud buffer
-  /// @param n_pts # of points
-  void reset_pointcloud(size_t n_pts, double time_stamp) override;
+  void reset_pointcloud(double time_stamp) override;
   /// @brief Resetting overflowed point cloud buffer
   void reset_overflow(double time_stamp) override;
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
index 04160ab19..4d5cb938b 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp32_decoder.hpp
@@ -36,8 +36,7 @@ class Vlp32Decoder : public VelodyneScanDecoder
   /// @return tuple of Point cloud and timestamp
   std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() override;
   /// @brief Resetting point cloud buffer
-  /// @param n_pts # of points
-  void reset_pointcloud(size_t n_pts, double time_stamp) override;
+  void reset_pointcloud(double time_stamp) override;
   /// @brief Resetting overflowed point cloud buffer
   void reset_overflow(double time_stamp) override;
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
index 0626e2e47..af84a33f4 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vls128_decoder.hpp
@@ -33,8 +33,7 @@ class Vls128Decoder : public VelodyneScanDecoder
   /// @return tuple of Point cloud and timestamp
   std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() override;
   /// @brief Resetting point cloud buffer
-  /// @param n_pts # of points
-  void reset_pointcloud(size_t n_pts, double time_stamp) override;
+  void reset_pointcloud(double time_stamp) override;
   /// @brief Resetting overflowed point cloud buffer
   void reset_overflow(double time_stamp) override;
 
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
index 02bed010e..298431f7b 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -82,11 +82,9 @@ int Vlp16Decoder::pointsPerPacket()
   return BLOCKS_PER_PACKET * VLP16_FIRINGS_PER_BLOCK * VLP16_SCANS_PER_FIRING;
 }
 
-void Vlp16Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
+void Vlp16Decoder::reset_pointcloud(double time_stamp)
 {
   scan_pc_->points.clear();
-  max_pts_ = n_pts * pointsPerPacket();
-  scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }
 
@@ -135,6 +133,8 @@ void Vlp16Decoder::reset_overflow(double time_stamp)
 
 void Vlp16Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
+  checkAndHandleScanComplete(packet, packet_seconds, phase_);
+
   const raw_packet_t * raw = (const raw_packet_t *)packet.data();
   float last_azimuth_diff = 0;
   uint16_t azimuth_next;
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
index 4c06faf87..3b82bf522 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -80,12 +80,10 @@ int Vlp32Decoder::pointsPerPacket()
   return BLOCKS_PER_PACKET * SCANS_PER_BLOCK;
 }
 
-void Vlp32Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
+void Vlp32Decoder::reset_pointcloud(double time_stamp)
 {
   //  scan_pc_.reset(new NebulaPointCloud);
   scan_pc_->points.clear();
-  max_pts_ = n_pts * pointsPerPacket();
-  scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }
 
@@ -134,6 +132,8 @@ void Vlp32Decoder::reset_overflow(double time_stamp)
 
 void Vlp32Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
+  checkAndHandleScanComplete(packet, packet_seconds, phase_);
+
   const raw_packet_t * raw = (const raw_packet_t *)packet.data();
   uint8_t return_mode = packet[RETURN_MODE_INDEX];
   const bool dual_return = (return_mode == RETURN_MODE_DUAL);
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
index 8992b537e..a3bff8fdc 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -82,12 +82,10 @@ int Vls128Decoder::pointsPerPacket()
   return BLOCKS_PER_PACKET * SCANS_PER_BLOCK;
 }
 
-void Vls128Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
+void Vls128Decoder::reset_pointcloud(double time_stamp)
 {
   //  scan_pc_.reset(new NebulaPointCloud);
   scan_pc_->points.clear();
-  max_pts_ = n_pts * pointsPerPacket();
-  scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }
 
@@ -136,6 +134,8 @@ void Vls128Decoder::reset_overflow(double time_stamp)
 
 void Vls128Decoder::unpack(const std::vector<uint8_t> & packet, int32_t packet_seconds)
 {
+  checkAndHandleScanComplete(packet, packet_seconds, phase_);
+
   const raw_packet_t * raw = (const raw_packet_t *)packet.data();
   float last_azimuth_diff = 0;
   uint16_t azimuth_next;
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp b/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
index 07569b8d9..310e75697 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
@@ -62,7 +62,7 @@ std::tuple<drivers::NebulaPointCloudPtr, double> VelodyneDriver::ParseCloudPacke
   if (scan_decoder_->hasScanned())
   {
     pointcloud = scan_decoder_->get_pointcloud();
-  }  
+  }
 
   return pointcloud;
 }

From b2343d529afb7ec6735687326bb3e55a3ff10316 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:33:12 +0900
Subject: [PATCH 051/122] fix(velodyne_tests): make tests compile with the new
 decoder API

---
 .../velodyne_ros_decoder_test_vlp16.cpp       | 60 +++++++++---------
 .../velodyne_ros_decoder_test_vlp16.hpp       | 11 ++--
 .../velodyne_ros_decoder_test_vlp32.cpp       | 62 +++++++++----------
 .../velodyne_ros_decoder_test_vlp32.hpp       | 11 ++--
 .../velodyne_ros_decoder_test_vls128.cpp      | 61 +++++++++---------
 .../velodyne_ros_decoder_test_vls128.hpp      | 11 ++--
 6 files changed, 107 insertions(+), 109 deletions(-)

diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
index fa3604485..c513cbc2b 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.cpp
@@ -34,26 +34,22 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
   calibration_cfg_ptr_ =
-    std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
+    std::make_shared<const drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
+  sensor_cfg_ptr_ = std::make_shared<const drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  wrapper_status_ = InitializeDriver(
-    std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-    std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  wrapper_status_ = InitializeDriver(sensor_cfg_ptr_, calibration_cfg_ptr_);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
 }
 
 Status VelodyneRosDecoderTest::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(
-    std::static_pointer_cast<drivers::VelodyneSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::VelodyneCalibrationConfiguration>(calibration_configuration));
+  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(sensor_configuration, calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -336,27 +332,31 @@ void VelodyneRosDecoderTest::ReadBag()
                   << bag_message->time_stamp << std::endl;
 
         auto extracted_msg_ptr = std::make_shared<velodyne_msgs::msg::VelodyneScan>(extracted_msg);
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr);
-        pointcloud = std::get<0>(pointcloud_ts);
-
-        // There are very rare cases where has_scanned_ does not become true, but it is not known
-        // whether it is because of decoder or deserialize_message.
-        if (!pointcloud) continue;
-
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-
-        auto target_pcd_path = (pcd_dir / fn);
-        std::cout << target_pcd_path << std::endl;
-        if (target_pcd_path.exists()) {
-          std::cout << "exists: " << target_pcd_path << std::endl;
-          auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
-          std::cout << rt << " loaded: " << target_pcd_path << std::endl;
-          checkPCDs(pointcloud, ref_pointcloud);
-          check_cnt++;
-          // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
-          ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+            std::vector<uint8_t>(pkt.data.begin(), pkt.data.end()),
+            pkt.stamp.sec);
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+
+          auto target_pcd_path = (pcd_dir / fn);
+          std::cout << target_pcd_path << std::endl;
+          if (target_pcd_path.exists()) {
+            std::cout << "exists: " << target_pcd_path << std::endl;
+            auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
+            std::cout << rt << " loaded: " << target_pcd_path << std::endl;
+            checkPCDs(pointcloud, ref_pointcloud);
+            check_cnt++;
+            // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
+            ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+          }
+          pointcloud.reset(new nebula::drivers::NebulaPointCloud);
         }
-        pointcloud.reset(new nebula::drivers::NebulaPointCloud);
       }
     }
     EXPECT_GT(check_cnt, 0);
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
index 2b889358e..4a938e388 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp16.hpp
@@ -21,22 +21,21 @@ namespace nebula
 namespace ros
 {
 /// @brief Testing decoder of VLP16 (Keeps VelodyneDriverRosWrapper structure as much as possible)
-class VelodyneRosDecoderTest final : public rclcpp::Node,
-                                     NebulaDriverRosWrapperBase  //, testing::Test
+class VelodyneRosDecoderTest final : public rclcpp::Node
 {
   std::shared_ptr<drivers::VelodyneDriver> driver_ptr_;
   Status wrapper_status_;
 
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_cfg_ptr_;
 
   /// @brief Initializing ros wrapper
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
   /// @return Resulting status
   Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+    std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration);
 
   /// @brief Get configurations (Magic numbers for VLP16 is described, each function can be
   /// integrated if the ros parameter can be passed to Google Test)
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
index c7623ca50..3fa61c95a 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.cpp
@@ -34,26 +34,22 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
   calibration_cfg_ptr_ =
-    std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
+    std::make_shared<const drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
+  sensor_cfg_ptr_ = std::make_shared<const drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  wrapper_status_ = InitializeDriver(
-    std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-    std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  wrapper_status_ = InitializeDriver(sensor_cfg_ptr_, calibration_cfg_ptr_);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
 }
 
 Status VelodyneRosDecoderTest::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(
-    std::static_pointer_cast<drivers::VelodyneSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::VelodyneCalibrationConfiguration>(calibration_configuration));
+  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(sensor_configuration, calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -340,28 +336,32 @@ void VelodyneRosDecoderTest::ReadBag()
                   << bag_message->time_stamp << std::endl;
 
         auto extracted_msg_ptr = std::make_shared<velodyne_msgs::msg::VelodyneScan>(extracted_msg);
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr);
-        pointcloud = std::get<0>(pointcloud_ts);
-
-        // There are very rare cases where has_scanned_ does not become true, but it is not known
-        // whether it is because of decoder or deserialize_message.
-        if (!pointcloud) continue;
-
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-
-        auto target_pcd_path = (pcd_dir / fn);
-        std::cout << target_pcd_path << std::endl;
-
-        if (target_pcd_path.exists()) {
-          std::cout << "exists: " << target_pcd_path << std::endl;
-          auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
-          std::cout << rt << " loaded: " << target_pcd_path << std::endl;
-          checkPCDs(pointcloud, ref_pointcloud);
-          check_cnt++;
-          // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
-          ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+            std::vector<uint8_t>(pkt.data.begin(), pkt.data.end()),
+            pkt.stamp.sec);
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+
+          auto target_pcd_path = (pcd_dir / fn);
+          std::cout << target_pcd_path << std::endl;
+
+          if (target_pcd_path.exists()) {
+            std::cout << "exists: " << target_pcd_path << std::endl;
+            auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
+            std::cout << rt << " loaded: " << target_pcd_path << std::endl;
+            checkPCDs(pointcloud, ref_pointcloud);
+            check_cnt++;
+            // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
+            ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+          }
+          pointcloud.reset(new nebula::drivers::NebulaPointCloud);
         }
-        pointcloud.reset(new nebula::drivers::NebulaPointCloud);
       }
     }
     EXPECT_GT(check_cnt, 0);
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.hpp
index 2b889358e..4a938e388 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.hpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vlp32.hpp
@@ -21,22 +21,21 @@ namespace nebula
 namespace ros
 {
 /// @brief Testing decoder of VLP16 (Keeps VelodyneDriverRosWrapper structure as much as possible)
-class VelodyneRosDecoderTest final : public rclcpp::Node,
-                                     NebulaDriverRosWrapperBase  //, testing::Test
+class VelodyneRosDecoderTest final : public rclcpp::Node
 {
   std::shared_ptr<drivers::VelodyneDriver> driver_ptr_;
   Status wrapper_status_;
 
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_cfg_ptr_;
 
   /// @brief Initializing ros wrapper
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
   /// @return Resulting status
   Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+    std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration);
 
   /// @brief Get configurations (Magic numbers for VLP16 is described, each function can be
   /// integrated if the ros parameter can be passed to Google Test)
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
index b00a9433d..00397570a 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -34,26 +34,23 @@ VelodyneRosDecoderTest::VelodyneRosDecoderTest(
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
   calibration_cfg_ptr_ =
-    std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
+    std::make_shared<const drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
+
+  sensor_cfg_ptr_ = std::make_shared<const drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  wrapper_status_ = InitializeDriver(
-    std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-    std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  wrapper_status_ = InitializeDriver(sensor_cfg_ptr_, calibration_cfg_ptr_);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
 }
 
 Status VelodyneRosDecoderTest::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(
-    std::static_pointer_cast<drivers::VelodyneSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::VelodyneCalibrationConfiguration>(calibration_configuration));
+  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(sensor_configuration, calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -337,27 +334,31 @@ void VelodyneRosDecoderTest::ReadBag()
                   << bag_message->time_stamp << std::endl;
 
         auto extracted_msg_ptr = std::make_shared<velodyne_msgs::msg::VelodyneScan>(extracted_msg);
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr);
-        pointcloud = std::get<0>(pointcloud_ts);
-
-        // There are very rare cases where has_scanned_ does not become true, but it is not known
-        // whether it is because of decoder or deserialize_message.
-        if (!pointcloud) continue;
-
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-
-        auto target_pcd_path = (pcd_dir / fn);
-        std::cout << target_pcd_path << std::endl;
-        if (target_pcd_path.exists()) {
-          std::cout << "exists: " << target_pcd_path << std::endl;
-          auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
-          std::cout << rt << " loaded: " << target_pcd_path << std::endl;
-          checkPCDs(pointcloud, ref_pointcloud);
-          check_cnt++;
-          // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
-          ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+            std::vector<uint8_t>(pkt.data.begin(), pkt.data.end()),
+            pkt.stamp.sec);
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+
+          auto target_pcd_path = (pcd_dir / fn);
+          std::cout << target_pcd_path << std::endl;
+          if (target_pcd_path.exists()) {
+            std::cout << "exists: " << target_pcd_path << std::endl;
+            auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud);
+            std::cout << rt << " loaded: " << target_pcd_path << std::endl;
+            checkPCDs(pointcloud, ref_pointcloud);
+            check_cnt++;
+            // ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud);
+            ref_pointcloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
+          }
+          pointcloud.reset(new nebula::drivers::NebulaPointCloud);
         }
-        pointcloud.reset(new nebula::drivers::NebulaPointCloud);
       }
     }
     EXPECT_GT(check_cnt, 0);
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
index a2432838f..ad29dd961 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.hpp
@@ -20,18 +20,17 @@ namespace nebula
 {
 namespace ros
 {
-class VelodyneRosDecoderTest final : public rclcpp::Node,
-                                     NebulaDriverRosWrapperBase  //, testing::Test
+class VelodyneRosDecoderTest final : public rclcpp::Node
 {
   std::shared_ptr<drivers::VelodyneDriver> driver_ptr_;
   Status wrapper_status_;
 
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_cfg_ptr_;
 
   Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+    std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration);
 
   Status GetParameters(
     drivers::VelodyneSensorConfiguration & sensor_configuration,

From c004ac158b93adc2ef1099c0dcb3963a39655e47 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:33:36 +0900
Subject: [PATCH 052/122] fix(velodyne_examples): make examples compile with
 new decoder API

---
 .../velodyne_ros_offline_extract_bag_pcd.hpp  | 10 +--
 .../velodyne_ros_offline_extract_bag_pcd.cpp  | 83 ++++++++++---------
 2 files changed, 49 insertions(+), 44 deletions(-)

diff --git a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
index c1910d294..33966d955 100644
--- a/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp
@@ -48,21 +48,21 @@ namespace nebula
 namespace ros
 {
 /// @brief Offline velodyne driver usage example (Output PCD data)
-class VelodyneRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrapperBase
+class VelodyneRosOfflineExtractBag final : public rclcpp::Node
 {
   std::shared_ptr<drivers::VelodyneDriver> driver_ptr_;
   Status wrapper_status_;
 
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_cfg_ptr_;
 
   /// @brief Initializing ros wrapper
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
   /// @return Resulting status
   Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+    std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration);
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
diff --git a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
index 913898b7c..ce3a69966 100644
--- a/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
@@ -33,26 +33,22 @@ VelodyneRosOfflineExtractBag::VelodyneRosOfflineExtractBag(
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
   calibration_cfg_ptr_ =
-    std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
+    std::make_shared<const drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
+  sensor_cfg_ptr_ = std::make_shared<const drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  wrapper_status_ = InitializeDriver(
-    std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-    std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  wrapper_status_ = InitializeDriver(sensor_cfg_ptr_ ,calibration_cfg_ptr_);
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
 }
 
 Status VelodyneRosOfflineExtractBag::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<const drivers::VelodyneSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(
-    std::static_pointer_cast<drivers::VelodyneSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::VelodyneCalibrationConfiguration>(calibration_configuration));
+  driver_ptr_ = std::make_shared<drivers::VelodyneDriver>(sensor_configuration, calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -338,37 +334,46 @@ Status VelodyneRosOfflineExtractBag::ReadBag()
         //        nebula::drivers::NebulaPointCloudPtr pointcloud =
         //        driver_ptr_->ConvertScanToPointcloud(
         //          std::make_shared<velodyne_msgs::msg::VelodyneScan>(extracted_msg));
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(
-          std::make_shared<velodyne_msgs::msg::VelodyneScan>(extracted_msg));
-        auto pointcloud = std::get<0>(pointcloud_ts);
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
 
-        if (needs_open) {
-          const rosbag2_storage::StorageOptions storage_options_w(
-            {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
-          const rosbag2_cpp::ConverterOptions converter_options_w(
-            {rmw_get_serialization_format(), rmw_get_serialization_format()});
-          writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
-          writer_->open(storage_options_w, converter_options_w);
-          writer_->create_topic(
-            {bag_message->topic_name, "velodyne_msgs/msg/VelodyneScan",
-              rmw_get_serialization_format(), ""});
-          needs_open = false;
-        }
-        writer_->write(bag_message);
-        cnt++;
-        if (skip_num < cnt) {
-          out_cnt++;
-          if (only_xyz) {
-            pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
-            pcl::copyPointCloud(*pointcloud, cloud_xyz);
-            writer.writeBinary((o_dir / fn).string(), cloud_xyz);
-          } else {
-            writer.writeBinary((o_dir / fn).string(), *pointcloud);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+            std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.data.size())),
+            pkt.stamp.sec);
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+
+          if (needs_open) {
+            const rosbag2_storage::StorageOptions storage_options_w(
+              {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
+            const rosbag2_cpp::ConverterOptions converter_options_w(
+              {rmw_get_serialization_format(), rmw_get_serialization_format()});
+            writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
+            writer_->open(storage_options_w, converter_options_w);
+            writer_->create_topic(
+              {bag_message->topic_name, "velodyne_msgs/msg/VelodyneScan",
+                rmw_get_serialization_format(), ""});
+            needs_open = false;
+          }
+          writer_->write(bag_message);
+          cnt++;
+          if (skip_num < cnt) {
+            out_cnt++;
+            if (only_xyz) {
+              pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
+              pcl::copyPointCloud(*pointcloud, cloud_xyz);
+              writer.writeBinary((o_dir / fn).string(), cloud_xyz);
+            } else {
+              writer.writeBinary((o_dir / fn).string(), *pointcloud);
+            }
+          }
+          if (out_num <= out_cnt) {
+            break;
           }
-        }
-        if (out_num <= out_cnt) {
-          break;
         }
       }
     }

From d34ef8dc86fd46939ef97e5aa52bead5c425c791 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:34:35 +0900
Subject: [PATCH 053/122] feat(velodyne_hw_interface): synchronous, null- and
 thread-safe HTTP requests

---
 .../velodyne_hw_interface.hpp                 |  94 +---
 .../velodyne_hw_interface.cpp                 | 522 +++---------------
 2 files changed, 79 insertions(+), 537 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
index 4c7971b2d..858e29488 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_velodyne/velodyne_hw_interface.hpp
@@ -43,6 +43,8 @@ class VelodyneHwInterface
   std::shared_ptr<boost::asio::io_context> boost_ctx_;
   std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> http_client_driver_;
 
+  std::mutex mtx_inflight_request_;
+
   std::string TARGET_STATUS{"/cgi/status.json"};
   std::string TARGET_DIAG{"/cgi/diag.json"};
   std::string TARGET_SNAPSHOT{"/cgi/snapshot.hdl"};
@@ -54,6 +56,9 @@ class VelodyneHwInterface
   std::string TARGET_RESET{"/cgi/reset"};
   void StringCallback(const std::string & str);
 
+  std::string HttpGetRequest(const std::string & endpoint);
+  std::string HttpPostRequest(const std::string & endpoint,  const std::string & body);
+
   /// @brief Get a one-off HTTP client to communicate with the hardware
   /// @param ctx IO Context
   /// @param hcd Got http client driver
@@ -204,95 +209,6 @@ class VelodyneHwInterface
   /// @return Resulting status
   VelodyneStatus SetNetDhcp(bool use_dhcp);
 
-  /// @brief Initializing HTTP client (async)
-  /// @return Resulting status
-  VelodyneStatus InitHttpClientAsync();
-  /// @brief Getting the current operational state and parameters of the sensor (async)
-  /// @param str_callback Callback function for received JSON string
-  /// @return Resulting status
-  VelodyneStatus GetStatusAsync(std::function<void(const std::string & str)> str_callback);
-  /// @brief Getting the current operational state and parameters of the sensor (async)
-  /// @return Resulting status
-  VelodyneStatus GetStatusAsync();
-  /// @brief Getting diagnostic information from the sensor (async)
-  /// @param str_callback Callback function for received JSON string
-  /// @return Resulting status
-  VelodyneStatus GetDiagAsync(std::function<void(const std::string & str)> str_callback);
-  /// @brief Getting diagnostic information from the sensor (async)
-  /// @return Resulting status
-  VelodyneStatus GetDiagAsync();
-  /// @brief Getting current sensor configuration and status data (async)
-  /// @param str_callback Callback function for received JSON string
-  /// @return Resulting status
-  VelodyneStatus GetSnapshotAsync(std::function<void(const std::string & str)> str_callback);
-  /// @brief Getting current sensor configuration and status data (async)
-  /// @return Resulting status
-  VelodyneStatus GetSnapshotAsync();
-  /// @brief Checking the current settings and changing the difference point
-  /// @return Resulting status
-  VelodyneStatus CheckAndSetConfigBySnapshotAsync(
-    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
-  /// @brief Setting Motor RPM (async)
-  /// @param rpm the RPM of the motor
-  /// @return Resulting status
-  VelodyneStatus SetRpmAsync(uint16_t rpm);
-  /// @brief Setting Field of View Start (async)
-  /// @param fov_start FOV start
-  /// @return Resulting status
-  VelodyneStatus SetFovStartAsync(uint16_t fov_start);
-  /// @brief Setting Field of View End (async)
-  /// @param fov_end FOV end
-  /// @return Resulting status
-  VelodyneStatus SetFovEndAsync(uint16_t fov_end);
-  /// @brief Setting Return Type (async)
-  /// @param return_mode ReturnMode
-  /// @return Resulting status
-  VelodyneStatus SetReturnTypeAsync(ReturnMode return_mode);
-  /// @brief Save Configuration to the LiDAR memory (async)
-  /// @return Resulting status
-  VelodyneStatus SaveConfigAsync();
-  /// @brief Resets the sensor (async)
-  /// @return Resulting status
-  VelodyneStatus ResetSystemAsync();
-  /// @brief Turn laser state on (async)
-  /// @return Resulting status
-  VelodyneStatus LaserOnAsync();
-  /// @brief Turn laser state off (async)
-  /// @return Resulting status
-  VelodyneStatus LaserOffAsync();
-  /// @brief Turn laser state on/off (async)
-  /// @param on is ON
-  /// @return Resulting status
-  VelodyneStatus LaserOnOffAsync(bool on);
-  /// @brief Setting host (destination) IP address (async)
-  /// @param addr destination IP address
-  /// @return Resulting status
-  VelodyneStatus SetHostAddrAsync(std::string addr);
-  /// @brief Setting host (destination) data port (async)
-  /// @param dport destination data port
-  /// @return Resulting status
-  VelodyneStatus SetHostDportAsync(uint16_t dport);
-  /// @brief Setting host (destination) telemetry port (async)
-  /// @param tport destination telemetry port
-  /// @return Resulting status
-  VelodyneStatus SetHostTportAsync(uint16_t tport);
-  /// @brief Setting network (sensor) IP address (async)
-  /// @param addr sensor IP address
-  /// @return Resulting status
-  VelodyneStatus SetNetAddrAsync(std::string addr);
-  /// @brief Setting the network mask of the sensor (async)
-  /// @param mask Network mask
-  /// @return Resulting status
-  VelodyneStatus SetNetMaskAsync(std::string mask);
-  /// @brief Setting the gateway address of the sensor (async)
-  /// @param gateway Gateway address
-  /// @return Resulting status
-  VelodyneStatus SetNetGatewayAsync(std::string gateway);
-  /// @brief This determines if the sensor is to rely on a DHCP server for its IP address (async)
-  /// @param use_dhcp DHCP on
-  /// @return Resulting status
-  VelodyneStatus SetNetDhcpAsync(bool use_dhcp);
-
   /// @brief Setting rclcpp::Logger
   /// @param node Logger
   void SetLogger(std::shared_ptr<rclcpp::Logger> node);
diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
index f31bb413b..fdc1051ba 100644
--- a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -12,24 +12,45 @@ VelodyneHwInterface::VelodyneHwInterface()
 {
 }
 
+std::string VelodyneHwInterface::HttpGetRequest(const std::string & endpoint)
+{
+  std::lock_guard lock(mtx_inflight_request_);
+  if (!http_client_driver_->client()->isOpen()) {
+    http_client_driver_->client()->open();
+  }
+
+  std::string response = http_client_driver_->get(endpoint);
+  http_client_driver_->client()->close();
+  return response;
+}
+
+std::string VelodyneHwInterface::HttpPostRequest(const std::string & endpoint, const std::string & body)
+{
+  std::lock_guard lock(mtx_inflight_request_);
+  if (!http_client_driver_->client()->isOpen()) {
+    http_client_driver_->client()->open();
+  }
+
+  std::string response = http_client_driver_->post(endpoint, body);
+  http_client_driver_->client()->close();
+  return response;
+}
+
 Status VelodyneHwInterface::InitializeSensorConfiguration(
   std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
 {
   sensor_configuration_ = sensor_configuration;
-
-  GetDiagAsync();
-  GetStatusAsync();
-  Status status = Status::OK;
-  return status;
+  return Status::OK;
 }
 
 Status VelodyneHwInterface::SetSensorConfiguration(
   std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
 {
-  auto velodyne_sensor_configuration = sensor_configuration;
-  VelodyneStatus status = CheckAndSetConfigBySnapshotAsync(velodyne_sensor_configuration);
-  Status rt = status;
-  return rt;
+  auto snapshot = GetSnapshot();
+  auto tree = ParseJson(snapshot);
+  VelodyneStatus status = CheckAndSetConfig(sensor_configuration, tree);
+
+  return status;
 }
 
 Status VelodyneHwInterface::SensorInterfaceStart()
@@ -92,42 +113,6 @@ VelodyneStatus VelodyneHwInterface::InitHttpClient()
   return Status::OK;
 }
 
-VelodyneStatus VelodyneHwInterface::InitHttpClientAsync()
-{
-  try {
-    http_client_driver_->init_client(sensor_configuration_->sensor_ip, 80);
-  } catch (const std::exception & ex) {
-    VelodyneStatus status = Status::HTTP_CONNECTION_ERROR;
-    return status;
-  }
-  return Status::OK;
-}
-
-VelodyneStatus VelodyneHwInterface::GetHttpClientDriverOnce(
-  std::shared_ptr<boost::asio::io_context> ctx,
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> & hcd)
-{
-  hcd = std::unique_ptr<::drivers::tcp_driver::HttpClientDriver>(
-    new ::drivers::tcp_driver::HttpClientDriver(ctx));
-  try {
-    hcd->init_client(sensor_configuration_->sensor_ip, 80);
-  } catch (const std::exception & ex) {
-    Status status = Status::HTTP_CONNECTION_ERROR;
-    std::cerr << status << sensor_configuration_->sensor_ip << "," << 80 << std::endl;
-    return Status::HTTP_CONNECTION_ERROR;
-  }
-  return Status::OK;
-}
-
-VelodyneStatus VelodyneHwInterface::GetHttpClientDriverOnce(
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> & hcd)
-{
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd_tmp;
-  auto st = GetHttpClientDriverOnce(std::make_shared<boost::asio::io_context>(), hcd_tmp);
-  hcd = std::move(hcd_tmp);
-  return st;
-}
-
 void VelodyneHwInterface::StringCallback(const std::string & str)
 {
   std::cout << "VelodyneHwInterface::StringCallback: " << str << std::endl;
@@ -150,12 +135,17 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
   std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration,
   boost::property_tree::ptree tree)
 {
+  VelodyneStatus status;
+  const auto & OK = VelodyneStatus::OK;
+
   std::string target_key = "config.returns";
   auto current_return_mode_str = tree.get<std::string>(target_key);
   auto current_return_mode =
     nebula::drivers::ReturnModeFromStringVelodyne(tree.get<std::string>(target_key));
   if (sensor_configuration->return_mode != current_return_mode) {
-    SetReturnTypeAsync(sensor_configuration->return_mode);
+    status = SetReturnType(sensor_configuration->return_mode);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key
               << "): " << current_return_mode_str << std::endl;
     std::cout << "current_return_mode: " << current_return_mode << std::endl;
@@ -166,7 +156,9 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
   target_key = "config.rpm";
   auto current_rotation_speed = tree.get<u_int16_t>(target_key);
   if (sensor_configuration->rotation_speed != current_rotation_speed) {
-    SetRpmAsync(sensor_configuration->rotation_speed);
+    status = SetRpm(sensor_configuration->rotation_speed);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key << "): " << current_rotation_speed
               << std::endl;
     std::cout << "sensor_configuration->rotation_speed: " << sensor_configuration->rotation_speed
@@ -181,7 +173,9 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
     setting_cloud_min_angle = 359;
   }
   if (setting_cloud_min_angle != current_cloud_min_angle) {
-    SetFovStartAsync(setting_cloud_min_angle);
+    status = SetFovStart(setting_cloud_min_angle);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key
               << "): " << current_cloud_min_angle << std::endl;
     std::cout << "sensor_configuration->cloud_min_angle: " << setting_cloud_min_angle << std::endl;
@@ -195,7 +189,9 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
     setting_cloud_max_angle = 359;
   }
   if (setting_cloud_max_angle != current_cloud_max_angle) {
-    SetFovEndAsync(setting_cloud_max_angle);
+    status = SetFovEnd(setting_cloud_max_angle);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key
               << "): " << current_cloud_max_angle << std::endl;
     std::cout << "sensor_configuration->cloud_max_angle: " << setting_cloud_max_angle << std::endl;
@@ -204,7 +200,9 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
   target_key = "config.host.addr";
   auto current_host_addr = tree.get<std::string>(target_key);
   if (sensor_configuration->host_ip != current_host_addr) {
-    SetHostAddrAsync(sensor_configuration->host_ip);
+    status = SetHostAddr(sensor_configuration->host_ip);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key << "): " << current_host_addr
               << std::endl;
     std::cout << "sensor_configuration->host_ip: " << sensor_configuration->host_ip << std::endl;
@@ -213,7 +211,9 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
   target_key = "config.host.dport";
   auto current_host_dport = tree.get<std::uint16_t>(target_key);
   if (sensor_configuration->data_port != current_host_dport) {
-    SetHostDportAsync(sensor_configuration->data_port);
+    status = SetHostDport(sensor_configuration->data_port);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key << "): " << current_host_dport
               << std::endl;
     std::cout << "sensor_configuration->data_port: " << sensor_configuration->data_port
@@ -223,46 +223,35 @@ VelodyneStatus VelodyneHwInterface::CheckAndSetConfig(
   target_key = "config.host.tport";
   auto current_host_tport = tree.get<std::uint16_t>(target_key);
   if (sensor_configuration->gnss_port != current_host_tport) {
-    SetHostTportAsync(sensor_configuration->gnss_port);
+    status = SetHostTport(sensor_configuration->gnss_port);
+    if (status != OK) return status;
+
     std::cout << "VelodyneHwInterface::parse_json(" << target_key << "): " << current_host_tport
               << std::endl;
     std::cout << "sensor_configuration->gnss_port: " << sensor_configuration->gnss_port
               << std::endl;
   }
 
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
+  return OK;
 }
 
 // sync
 
 std::string VelodyneHwInterface::GetStatus()
 {
-  auto rt = http_client_driver_->get(TARGET_STATUS);
-  http_client_driver_->client()->close();
-  //  str_cb(rt);
-  //  return Status::OK;
-  return rt;
+  return HttpGetRequest(TARGET_STATUS);
 }
 
 std::string VelodyneHwInterface::GetDiag()
 {
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  std::cout << "GetHttpClientDriverOnce" << std::endl;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return "";
-  }
-  auto rt = hcd->get(TARGET_DIAG);
+  auto rt = HttpGetRequest(TARGET_DIAG);
   std::cout << "read_response: " << rt << std::endl;
   return rt;
 }
 
 std::string VelodyneHwInterface::GetSnapshot()
 {
-  auto rt = http_client_driver_->get(TARGET_SNAPSHOT);
-  http_client_driver_->client()->close();
-  return rt;
+  return HttpGetRequest(TARGET_SNAPSHOT);
 }
 
 VelodyneStatus VelodyneHwInterface::SetRpm(uint16_t rpm)
@@ -270,8 +259,7 @@ VelodyneStatus VelodyneHwInterface::SetRpm(uint16_t rpm)
   if (rpm < 300 || 1200 < rpm || rpm % 60 != 0) {
     return VelodyneStatus::INVALID_RPM_ERROR;
   }
-  auto rt = http_client_driver_->post(TARGET_SETTING, (boost::format("rpm=%d") % rpm).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SETTING, (boost::format("rpm=%d") % rpm).str());
   StringCallback(rt);
   return Status::OK;
 }
@@ -281,8 +269,7 @@ VelodyneStatus VelodyneHwInterface::SetFovStart(uint16_t fov_start)
   if (359 < fov_start) {
     return VelodyneStatus::INVALID_FOV_ERROR;
   }
-  auto rt = http_client_driver_->post(TARGET_FOV, (boost::format("start=%d") % fov_start).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_FOV, (boost::format("start=%d") % fov_start).str());
   StringCallback(rt);
   return Status::OK;
 }
@@ -292,8 +279,7 @@ VelodyneStatus VelodyneHwInterface::SetFovEnd(uint16_t fov_end)
   if (359 < fov_end) {
     return VelodyneStatus::INVALID_FOV_ERROR;
   }
-  auto rt = http_client_driver_->post(TARGET_FOV, (boost::format("end=%d") % fov_end).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_FOV, (boost::format("end=%d") % fov_end).str());
   StringCallback(rt);
   return Status::OK;
 }
@@ -314,8 +300,7 @@ VelodyneStatus VelodyneHwInterface::SetReturnType(nebula::drivers::ReturnMode re
     default:
       return VelodyneStatus::INVALID_RETURN_MODE_ERROR;
   }
-  auto rt = http_client_driver_->post(TARGET_SETTING, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SETTING, body_str);
   StringCallback(rt);
   return Status::OK;
 }
@@ -323,8 +308,7 @@ VelodyneStatus VelodyneHwInterface::SetReturnType(nebula::drivers::ReturnMode re
 VelodyneStatus VelodyneHwInterface::SaveConfig()
 {
   std::string body_str = "submit";
-  auto rt = http_client_driver_->post(TARGET_SAVE, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SAVE, body_str);
   StringCallback(rt);
   return Status::OK;
 }
@@ -332,8 +316,7 @@ VelodyneStatus VelodyneHwInterface::SaveConfig()
 VelodyneStatus VelodyneHwInterface::ResetSystem()
 {
   std::string body_str = "reset_system";
-  auto rt = http_client_driver_->post(TARGET_RESET, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_RESET, body_str);
   StringCallback(rt);
   return Status::OK;
 }
@@ -341,8 +324,7 @@ VelodyneStatus VelodyneHwInterface::ResetSystem()
 VelodyneStatus VelodyneHwInterface::LaserOn()
 {
   std::string body_str = "laser=on";
-  auto rt = http_client_driver_->post(TARGET_SETTING, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SETTING, body_str);
   StringCallback(rt);
   return Status::OK;
 }
@@ -350,8 +332,7 @@ VelodyneStatus VelodyneHwInterface::LaserOn()
 VelodyneStatus VelodyneHwInterface::LaserOff()
 {
   std::string body_str = "laser=off";
-  auto rt = http_client_driver_->post(TARGET_SETTING, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SETTING, body_str);
   StringCallback(rt);
   return Status::OK;
 }
@@ -359,416 +340,61 @@ VelodyneStatus VelodyneHwInterface::LaserOff()
 VelodyneStatus VelodyneHwInterface::LaserOnOff(bool on)
 {
   std::string body_str = (boost::format("laser=%s") % (on ? "on" : "off")).str();
-  auto rt = http_client_driver_->post(TARGET_SETTING, body_str);
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_SETTING, body_str);
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetHostAddr(std::string addr)
 {
-  auto rt = http_client_driver_->post(TARGET_HOST, (boost::format("addr=%s") % addr).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_HOST, (boost::format("addr=%s") % addr).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetHostDport(uint16_t dport)
 {
-  auto rt = http_client_driver_->post(TARGET_HOST, (boost::format("dport=%d") % dport).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_HOST, (boost::format("dport=%d") % dport).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetHostTport(uint16_t tport)
 {
-  auto rt = http_client_driver_->post(TARGET_HOST, (boost::format("tport=%d") % tport).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_HOST, (boost::format("tport=%d") % tport).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetNetAddr(std::string addr)
 {
-  auto rt = http_client_driver_->post(TARGET_NET, (boost::format("addr=%s") % addr).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_NET, (boost::format("addr=%s") % addr).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetNetMask(std::string mask)
 {
-  auto rt = http_client_driver_->post(TARGET_NET, (boost::format("mask=%s") % mask).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_NET, (boost::format("mask=%s") % mask).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetNetGateway(std::string gateway)
 {
-  auto rt = http_client_driver_->post(TARGET_NET, (boost::format("gateway=%s") % gateway).str());
-  http_client_driver_->client()->close();
+  auto rt = HttpPostRequest(TARGET_NET, (boost::format("gateway=%s") % gateway).str());
   StringCallback(rt);
   return Status::OK;
 }
 
 VelodyneStatus VelodyneHwInterface::SetNetDhcp(bool use_dhcp)
 {
-  auto rt = http_client_driver_->post(
+  auto rt = HttpPostRequest(
     TARGET_NET, (boost::format("dhcp=%s") % (use_dhcp ? "on" : "off")).str());
-  http_client_driver_->client()->close();
   StringCallback(rt);
   return Status::OK;
 }
 
-VelodyneStatus VelodyneHwInterface::GetStatusAsync(
-  std::function<void(const std::string & str)> str_callback)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncGet(str_callback, TARGET_STATUS);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::GetStatusAsync()
-{
-  return GetStatusAsync([this](const std::string & str) { StringCallback(str); });
-}
-
-VelodyneStatus VelodyneHwInterface::GetDiagAsync(
-  std::function<void(const std::string & str)> str_callback)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncGet(str_callback, TARGET_DIAG);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::GetDiagAsync()
-{
-  return GetDiagAsync([this](const std::string & str) { StringCallback(str); });
-}
-
-VelodyneStatus VelodyneHwInterface::GetSnapshotAsync(
-  std::function<void(const std::string & str)> str_callback)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-  hcd->asyncGet(str_callback, TARGET_SNAPSHOT);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::GetSnapshotAsync()
-{
-  return GetSnapshotAsync([this](const std::string & str) { ParseJson(str); });
-}
-
-VelodyneStatus VelodyneHwInterface::CheckAndSetConfigBySnapshotAsync(
-  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration)
-{
-  sensor_configuration_ = sensor_configuration;
-
-  return GetSnapshotAsync([this](const std::string & str) {
-    auto tree = ParseJson(str);
-    std::cout << "ParseJson OK\n";
-    CheckAndSetConfig(sensor_configuration_, tree);
-  });
-}
-
-VelodyneStatus VelodyneHwInterface::SetRpmAsync(uint16_t rpm)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  if (rpm < 300 || 1200 < rpm || rpm % 60 != 0) {
-    return VelodyneStatus::INVALID_RPM_ERROR;
-  }
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_SETTING,
-    (boost::format("rpm=%d") % rpm).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetFovStartAsync(uint16_t fov_start)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  if (359 < fov_start) {
-    return VelodyneStatus::INVALID_FOV_ERROR;
-  }
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_FOV,
-    (boost::format("start=%d") % fov_start).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetFovEndAsync(uint16_t fov_end)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  if (359 < fov_end) {
-    return VelodyneStatus::INVALID_FOV_ERROR;
-  }
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_FOV,
-    (boost::format("end=%d") % fov_end).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetReturnTypeAsync(nebula::drivers::ReturnMode return_mode)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = "";
-  switch (return_mode) {
-    case nebula::drivers::ReturnMode::SINGLE_STRONGEST:
-      body_str = "returns=Strongest";
-      break;
-    case nebula::drivers::ReturnMode::SINGLE_LAST:
-      body_str = "returns=Last";
-      break;
-    case nebula::drivers::ReturnMode::DUAL_ONLY:
-      body_str = "returns=Dual";
-      break;
-    default:
-      return VelodyneStatus::INVALID_RETURN_MODE_ERROR;
-  }
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_SETTING, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SaveConfigAsync()
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = "submit";
-  hcd->asyncPost([this](const std::string & str) { StringCallback(str); }, TARGET_SAVE, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::ResetSystemAsync()
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = "reset_system";
-  hcd->asyncPost([this](const std::string & str) { StringCallback(str); }, TARGET_RESET, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::LaserOnAsync()
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = "laser=on";
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_SETTING, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::LaserOffAsync()
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = "laser=off";
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_SETTING, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::LaserOnOffAsync(bool on)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  std::string body_str = (boost::format("laser=%s") % (on ? "on" : "off")).str();
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_SETTING, body_str);
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetHostAddrAsync(std::string addr)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_HOST,
-    (boost::format("addr=%s") % addr).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetHostDportAsync(uint16_t dport)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_HOST,
-    (boost::format("dport=%d") % dport).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetHostTportAsync(uint16_t tport)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_HOST,
-    (boost::format("tport=%d") % tport).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetNetAddrAsync(std::string addr)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_NET,
-    (boost::format("addr=%s") % addr).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetNetMaskAsync(std::string mask)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_NET,
-    (boost::format("mask=%s") % mask).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetNetGatewayAsync(std::string gateway)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_NET,
-    (boost::format("gateway=%s") % gateway).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
-VelodyneStatus VelodyneHwInterface::SetNetDhcpAsync(bool use_dhcp)
-{
-  auto ctx = std::make_shared<boost::asio::io_context>();
-  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> hcd;
-  auto st = GetHttpClientDriverOnce(ctx, hcd);
-  if (st != Status::OK) {
-    return st;
-  }
-
-  hcd->asyncPost(
-    [this](const std::string & str) { StringCallback(str); }, TARGET_NET,
-    (boost::format("dhcp=%s") % (use_dhcp ? "on" : "off")).str());
-  ctx->run();
-  return Status::WAITING_FOR_SENSOR_RESPONSE;
-}
-
 void VelodyneHwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)
 {
   parent_node_logger = logger;

From 5a91d32ccdb2c9d1b19a19fedca31735b919b522 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:34:56 +0900
Subject: [PATCH 054/122] fix(velodyne_launch_all_hw.xml): refactor to
 single-node

---
 nebula_ros/launch/velodyne_launch_all_hw.xml | 33 +++-----------------
 1 file changed, 4 insertions(+), 29 deletions(-)

diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index c39437039..717aa5afd 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="launch_hw" default="true" />
     <arg name="sensor_model" description="VLP16|VLP32|VLS128"/>
     <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
     <arg name="frame_id"  default="velodyne"/>
@@ -19,41 +20,15 @@
 
     <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
 
-    <node pkg="nebula_ros" exec="velodyne_driver_ros_wrapper_node"
-          name="velodyne_cloud" output="screen">
+    <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node"
+          name="nebula_velodyne" output="screen">
         <param name="sensor_model" value="$(var sensor_model)"/>
+        <param name="launch_hw" value="$(var launch_hw)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
         <param name="scan_phase" value="$(var scan_phase)"/>
         <param name="calibration_file" value="$(var calibration_file)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="velodyne_hw_ros_wrapper_node"
-          name="velodyne_hw_driver" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
         <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="setup_sensor" value="$(var setup_sensor)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="velodyne_hw_monitor_ros_wrapper_node"
-          name="hesai_hw_monitor_$(var frame_id)" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
         <param name="host_ip" value="$(var host_ip)"/>
         <param name="data_port" value="$(var data_port)"/>
         <param name="gnss_port" value="$(var gnss_port)"/>

From 62d7f92e9e2b6c31f273fd75dac5104ef26cd40c Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 16:38:21 +0900
Subject: [PATCH 055/122] fix(velodyne): make hw interface wrapper work with
 new hw  interface API

---
 nebula_ros/src/velodyne/hw_interface_wrapper.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/nebula_ros/src/velodyne/hw_interface_wrapper.cpp b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
index 57e1cd927..8ce73a2a8 100644
--- a/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
@@ -20,6 +20,12 @@ VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
     throw std::runtime_error((std::stringstream{} << "Could not initialize HW interface: " << status_).str());
   }
 
+  status_ = hw_interface_->InitHttpClient();
+
+  if (status_ != Status::OK) {
+    throw std::runtime_error((std::stringstream{} << "Could not initialize HTTP client: " << status_).str());
+  }
+
   if (setup_sensor_) {
     RCLCPP_INFO_STREAM(logger_, "Setting sensor configuration");
     status_ = hw_interface_->SetSensorConfiguration(config);
@@ -36,6 +42,7 @@ void VelodyneHwInterfaceWrapper::OnConfigChange(
     const std::shared_ptr<const nebula::drivers::VelodyneSensorConfiguration>& new_config)
 {
   hw_interface_->InitializeSensorConfiguration(new_config);
+  hw_interface_->InitHttpClient();
   if (setup_sensor_) {
     hw_interface_->SetSensorConfiguration(new_config);
   }

From f18215d684b829fac16ed9ed7aa76e7bf5de4c7c Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 17 May 2024 17:07:50 +0900
Subject: [PATCH 056/122] fix(velodyne): implement correct locking behavior in
 hw monitor wrapper

---
 .../velodyne/hw_monitor_wrapper.hpp           |   8 +-
 .../src/velodyne/hw_monitor_wrapper.cpp       | 158 +++++++++---------
 2 files changed, 82 insertions(+), 84 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
index a003aad43..e695f3114 100644
--- a/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/velodyne/hw_monitor_wrapper.hpp
@@ -48,10 +48,11 @@ class VelodyneHwMonitorWrapper
 
   /// @brief Get value from property_tree
   /// @param pt property_tree
+  /// @param mtx_pt the mutex associated with `pt`
   /// @param key Pey string
   /// @return Value
   std::string GetPtreeValue(
-    std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key);
+    std::shared_ptr<boost::property_tree::ptree> pt, std::mutex & mtx_pt, const std::string & key);
 
   /// @brief Making fixed precision string
   /// @param val Target value
@@ -278,8 +279,9 @@ class VelodyneHwMonitorWrapper
   std::shared_ptr<rclcpp::Time> current_snapshot_time;
   uint8_t current_diag_status;
 
-  std::timed_mutex tm_status_;
-  std::timed_mutex tm_diag_;
+  std::mutex mtx_snapshot_;
+  std::mutex mtx_status_;
+  std::mutex mtx_diag_;
 
   std::string info_model_;
   std::string info_serial_;
diff --git a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
index 17d02c42c..836f81e6b 100644
--- a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
@@ -18,28 +18,27 @@ VelodyneHwMonitorWrapper::VelodyneHwMonitorWrapper(rclcpp::Node* const parent_no
   show_advanced_diagnostics_ = parent_node->declare_parameter<bool>("advanced_diagnostics", false, param_read_only());
 
   std::cout << "Get model name and serial." << std::endl;
-  hw_interface_->GetSnapshotAsync([this](const std::string & str) {
-    current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
-    current_snapshot_tree =
-      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
-    current_diag_tree =
-      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
-    current_status_tree =
-      std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("status"));
-    current_snapshot.reset(new std::string(str));
+  auto str = hw_interface_->GetSnapshot();
+  current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
+  current_snapshot_tree =
+    std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+  current_diag_tree =
+    std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
+  current_status_tree =
+    std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("status"));
+  current_snapshot.reset(new std::string(str));
 
-    try {
-      info_model_ = GetPtreeValue(current_snapshot_tree, key_info_model);
-      info_serial_ = GetPtreeValue(current_snapshot_tree, key_info_serial);
-      RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
-      RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
-    } catch (boost::bad_lexical_cast & ex) {
-      RCLCPP_ERROR(logger_, " Error: Can't get model and serial");
-      return;
-    }
+  try {
+    info_model_ = GetPtreeValue(current_snapshot_tree, mtx_snapshot_, key_info_model);
+    info_serial_ = GetPtreeValue(current_snapshot_tree, mtx_snapshot_, key_info_serial);
+    RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
+    RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
+  } catch (boost::bad_lexical_cast & ex) {
+    RCLCPP_ERROR(logger_, " Error: Can't get model and serial");
+    return;
+  }
 
-    InitializeVelodyneDiagnostics();
-  });
+  InitializeVelodyneDiagnostics();
 }
 
 void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
@@ -154,8 +153,12 @@ void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
   diagnostics_updater_.add(
     "velodyne_voltage", this, &VelodyneHwMonitorWrapper::VelodyneCheckVoltage);
 
-  current_snapshot.reset(new std::string(""));
-  current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
+  {
+    std::lock_guard lock(mtx_snapshot_);
+    current_snapshot.reset(new std::string(""));
+    current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
+  }
+
   current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
   auto on_timer_snapshot = [this] { OnVelodyneSnapshotTimer(); };
@@ -163,7 +166,11 @@ void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
 
   auto on_timer_update = [this] {
     auto now = parent_node_->now();
-    auto dif = (now - *current_snapshot_time).seconds();
+    double dif;
+    {
+      std::lock_guard lock(mtx_snapshot_);
+      dif = (now - *current_snapshot_time).seconds();
+    }
     if (diag_span_ * 2.0 < dif * 1000) {
       current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(logger_, "STALE");
@@ -178,40 +185,34 @@ void VelodyneHwMonitorWrapper::InitializeVelodyneDiagnostics()
 
 void VelodyneHwMonitorWrapper::OnVelodyneSnapshotTimer()
 {
-  hw_interface_->GetSnapshotAsync([this](const std::string & str) {
+
+  auto str = hw_interface_->GetSnapshot();
+  auto ptree = hw_interface_->ParseJson(str);
+
+  {
+    std::lock_guard lock(mtx_snapshot_);
+
     current_snapshot_time.reset(new rclcpp::Time(parent_node_->now()));
     current_snapshot_tree =
-      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+      std::make_shared<boost::property_tree::ptree>(ptree);
     current_diag_tree =
       std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("diag"));
     current_status_tree =
       std::make_shared<boost::property_tree::ptree>(current_snapshot_tree->get_child("status"));
     current_snapshot.reset(new std::string(str));
-  });
+  }
 }
 
 void VelodyneHwMonitorWrapper::OnVelodyneDiagnosticsTimer()
 {
   std::cout << "OnVelodyneDiagnosticsTimer" << std::endl;
-  if (tm_diag_.try_lock_for(std::chrono::milliseconds(500))) {
-    std::cout << "mtx_diag lock" << std::endl;
-    hw_interface_->GetDiagAsync([this](const std::string & str) {
-      current_diag_tree =
-        std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
-      diagnostics_updater_.force_update();
-      tm_diag_.unlock();
-      std::cout << "mtx_diag unlock" << std::endl;
-    });
-
-    if (!tm_diag_.try_lock_for(std::chrono::milliseconds(500))) {
-      RCLCPP_ERROR(logger_, "GetDiagAsync callback timed out");
-      return;
-    }
-
-    tm_diag_.unlock();
-  } else {
-      RCLCPP_ERROR(logger_, "Wait for GetDiagAsync mutex timed out");
+  auto str = hw_interface_->GetDiag();
+  {
+    std::lock_guard lock(mtx_diag_);
+    current_diag_tree =
+      std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
   }
+  diagnostics_updater_.force_update();
 }
 
 std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::VelodyneGetTopHv()
@@ -222,7 +223,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::Ve
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_hv));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_hv));
     val = 101.0 * (val * 5.0 / 4096.0 - 5.0);
     if (val < -150.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -249,7 +250,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopAdTemp()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_ad_temp));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_ad_temp));
     val = val * 5.0 / 4096.0;
     mes = GetFixedPrecisionString(val) + " V";
   } catch (boost::bad_lexical_cast & ex) {
@@ -270,7 +271,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopLm20Temp()
   try {
     double val = 0.0;
     val =
-      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_lm20_temp));
+      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_lm20_temp));
     val = -1481.96 + std::sqrt(2.1962e6 + ((1.8639 - val * 5.0 / 4096.0) / 3.88e-6));
     if (val < -25.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -298,7 +299,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwr5v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_5v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_5v));
     val = 2.0 * val * 5.0 / 4096.0;
     if (val < 4.8) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -325,7 +326,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwr25v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_2_5v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_2_5v));
     val = val * 5.0 / 4096.0;
     if (val < 2.3) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -352,7 +353,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwr33v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_3_3v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_3_3v));
     val = val * 5.0 / 4096.0;
     if (val < 3.1) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -380,7 +381,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwr5vRaw()
   try {
     double val = 0.0;
     val =
-      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_5v_raw));
+      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_5v_raw));
     val = 2.0 * val * 5.0 / 4096.0;
     if (val < 2.3) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -407,7 +408,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwrRaw()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_raw));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_raw));
     val = val * 5.0 / 4096.0;
     if (val < 1.6) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -435,7 +436,7 @@ VelodyneHwMonitorWrapper::VelodyneGetTopPwrVccint()
   try {
     double val = 0.0;
     val =
-      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_top_pwr_vccint));
+      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_top_pwr_vccint));
     val = val * 5.0 / 4096.0;
     if (val < 1.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -463,7 +464,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotIOut()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_i_out));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_i_out));
     val = 10.0 * (val * 5.0 / 4096.0 - 2.5);
     if (val < 0.3) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -490,7 +491,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwr12v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_1_2v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_1_2v));
     val = val * 5.0 / 4096.0;
     if (val < 1.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -518,7 +519,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotLm20Temp()
   try {
     double val = 0.0;
     val =
-      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_lm20_temp));
+      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_lm20_temp));
     val = -1481.96 + std::sqrt(2.1962e6 + ((1.8639 - val * 5.0 / 4096.0) / 3.88e-6));
     if (val < -25.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -546,7 +547,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwr5v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_5v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_5v));
     val = 2.0 * val * 5.0 / 4096.0;
     if (val < 4.8) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -573,7 +574,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwr25v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_2_5v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_2_5v));
     val = val * 5.0 / 4096.0;
     if (val < 2.3) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -600,7 +601,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwr33v()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_3_3v));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_3_3v));
     val = val * 5.0 / 4096.0;
     if (val < 3.1) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -627,7 +628,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwrVIn()
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_v_in));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_v_in));
     val = 11.0 * val * 5.0 / 4096.0;
     if (val < 8.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -655,7 +656,7 @@ VelodyneHwMonitorWrapper::VelodyneGetBotPwr125v()
   try {
     double val = 0.0;
     val =
-      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_volt_temp_bot_pwr_1_25v));
+      boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_volt_temp_bot_pwr_1_25v));
     val = val * 5.0 / 4096.0;
     if (val < 1.0) {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
@@ -681,7 +682,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::Ve
   std::string error_mes;
   try {
     double val = 0.0;
-    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, key_vhv));
+    val = boost::lexical_cast<double>(GetPtreeValue(current_diag_tree, mtx_diag_, key_vhv));
     mes = boost::lexical_cast<std::string>(val);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
@@ -756,7 +757,7 @@ std::tuple<bool, uint8_t, std::string, std::string> VelodyneHwMonitorWrapper::Ve
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_diag_tree, key_ixe);
+    mes = GetPtreeValue(current_diag_tree, mtx_diag_, key_ixe);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -801,7 +802,7 @@ VelodyneHwMonitorWrapper::VelodyneGetGpsPpsState()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_gps_pps_state);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_gps_pps_state);
     if (mes == "Absent") {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
       error_mes = mes;
@@ -825,7 +826,7 @@ VelodyneHwMonitorWrapper::VelodyneGetGpsPosition()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_gps_pps_position);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_gps_pps_position);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -842,7 +843,7 @@ VelodyneHwMonitorWrapper::VelodyneGetMotorState()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_motor_state);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_motor_state);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -859,7 +860,7 @@ VelodyneHwMonitorWrapper::VelodyneGetMotorRpm()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_motor_rpm);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_motor_rpm);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -876,7 +877,7 @@ VelodyneHwMonitorWrapper::VelodyneGetMotorLock()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_motor_lock);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_motor_lock);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -893,7 +894,7 @@ VelodyneHwMonitorWrapper::VelodyneGetMotorPhase()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_motor_phase);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_motor_phase);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -910,7 +911,7 @@ VelodyneHwMonitorWrapper::VelodyneGetLaserState()
   std::string mes;
   std::string error_mes;
   try {
-    mes = GetPtreeValue(current_status_tree, key_status_laser_state);
+    mes = GetPtreeValue(current_status_tree, mtx_status_, key_status_laser_state);
   } catch (boost::bad_lexical_cast & ex) {
     not_ex = false;
     level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
@@ -1173,19 +1174,13 @@ void VelodyneHwMonitorWrapper::VelodyneCheckAdctpStat(
 
 void VelodyneHwMonitorWrapper::OnVelodyneStatusTimer()
 {
-  tm_status_.lock();
-  hw_interface_->GetStatusAsync([this](const std::string & str) {
+  auto str = hw_interface_->GetStatus();
+  {
+    std::lock_guard lock(mtx_status_);
     current_status_tree =
       std::make_shared<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
-    diagnostics_updater_.force_update();
-    tm_status_.unlock();
-  });
-
-  if (!tm_status_.try_lock_for(std::chrono::seconds(1))) {
-    RCLCPP_ERROR(logger_, "Sensor status request timed out!");
   }
-
-  tm_status_.unlock();
+  diagnostics_updater_.force_update();
 }
 
 void VelodyneHwMonitorWrapper::VelodyneCheckGpsPpsState(
@@ -1546,8 +1541,9 @@ void VelodyneHwMonitorWrapper::VelodyneCheckVoltage(
 }
 
 std::string VelodyneHwMonitorWrapper::GetPtreeValue(
-  std::shared_ptr<boost::property_tree::ptree> pt, const std::string & key)
+  std::shared_ptr<boost::property_tree::ptree> pt, std::mutex & mtx_pt, const std::string & key)
 {
+  std::lock_guard lock(mtx_pt);
   boost::optional<std::string> value = pt->get_optional<std::string>(key);
   if (value) {
     return value.get();

From 0ae9198d2a06a5722380e3d918e22416991394f3 Mon Sep 17 00:00:00 2001
From: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Date: Mon, 20 May 2024 20:34:20 +0900
Subject: [PATCH 057/122] fix(nebula_tests): re-cut scans in existing reference
 data correctly (360deg). has been ~372deg before (#150)

---
 .../velodyne/vls128/1585897255376374245.pcd   | Bin 0 -> 2513322 bytes
 .../1614315746471294674_0.db3                 | Bin 3072000 -> 2695168 bytes
 .../vls128/1614315746471294674/metadata.yaml  |  14 +++++++-------
 .../velodyne/vls128/1614315746748918706.pcd   | Bin 2606550 -> 0 bytes
 .../velodyne_ros_decoder_test_vls128.cpp      |   3 +--
 5 files changed, 8 insertions(+), 9 deletions(-)
 create mode 100644 nebula_tests/data/velodyne/vls128/1585897255376374245.pcd
 delete mode 100644 nebula_tests/data/velodyne/vls128/1614315746748918706.pcd

diff --git a/nebula_tests/data/velodyne/vls128/1585897255376374245.pcd b/nebula_tests/data/velodyne/vls128/1585897255376374245.pcd
new file mode 100644
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GIT binary patch
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diff --git a/nebula_tests/data/velodyne/vls128/1614315746471294674/1614315746471294674_0.db3 b/nebula_tests/data/velodyne/vls128/1614315746471294674/1614315746471294674_0.db3
index e9de912740a926494dc6a2834286990199d2ee40..2d95339b1dcc7abefdc52e2d8d8b25a0472c46e0 100644
GIT binary patch
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diff --git a/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml b/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
index 87ad88ce1..81489216f 100644
--- a/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
+++ b/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
@@ -2,15 +2,15 @@ rosbag2_bagfile_information:
   version: 5
   storage_identifier: sqlite3
   duration:
-    nanoseconds: 277624032
+    nanoseconds: 263164997
   starting_time:
-    nanoseconds_since_epoch: 1614315746471294674
+    nanoseconds_since_epoch: 1585897255313147068
   message_count: 4
   topics_with_message_count:
     - topic_metadata:
-        name: /sensing/lidar/top/velodyne_packets
+        name: /velodyne_packets
         type: velodyne_msgs/msg/VelodyneScan
-        serialization_format: cdr
+        serialization_format: ""
         offered_qos_profiles: ""
       message_count: 4
   compression_format: ""
@@ -20,7 +20,7 @@ rosbag2_bagfile_information:
   files:
     - path: 1614315746471294674_0.db3
       starting_time:
-        nanoseconds_since_epoch: 1614315746471294674
+        nanoseconds_since_epoch: 1585897255313147068
       duration:
-        nanoseconds: 277624032
-      message_count: 4
+        nanoseconds: 263164997
+      message_count: 4
\ No newline at end of file
diff --git a/nebula_tests/data/velodyne/vls128/1614315746748918706.pcd b/nebula_tests/data/velodyne/vls128/1614315746748918706.pcd
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diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
index b00a9433d..5fe5e1dbc 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -223,7 +223,7 @@ Status VelodyneRosDecoderTest::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>(
-      "target_topic", "/sensing/lidar/top/velodyne_packets", descriptor);
+      "target_topic", "/velodyne_packets", descriptor);
     target_topic = this->get_parameter("target_topic").as_string();
   }
 
@@ -315,7 +315,6 @@ void VelodyneRosDecoderTest::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
   rclcpp::Serialization<velodyne_msgs::msg::VelodyneScan> serialization;
   nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
   // nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud);

From cf6868786530b40de0347b7f5c3eb5adbe0aa137 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 20 May 2024 20:35:35 +0900
Subject: [PATCH 058/122] chore(velodyne_scan_decoder.hpp): explicitly
 initialize some fields for clarity

---
 .../decoders/velodyne_scan_decoder.hpp                    | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
index 1d8cb9255..02209c5b2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp
@@ -134,9 +134,9 @@ enum RETURN_TYPE {
 class VelodyneScanDecoder
 {
 private: 
-  size_t processed_packets_;
-  uint32_t prev_packet_first_azm_phased_;
-  bool has_scanned_;
+  size_t processed_packets_{0};
+  uint32_t prev_packet_first_azm_phased_{0};
+  bool has_scanned_{false};
 
 protected:
   /// @brief Checks if the current packet completes the ongoing scan.
@@ -204,7 +204,7 @@ class VelodyneScanDecoder
 
   /// @brief Virtual function for getting the flag indicating whether one cycle is ready
   /// @return Readied
-  virtual bool hasScanned() {
+  bool hasScanned() {
     return has_scanned_;
   }
 

From 2f318057b2ff12c7c6a2973fd43e1197f5587988 Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko.2@tier4.jp>
Date: Fri, 17 May 2024 18:59:20 +0900
Subject: [PATCH 059/122] feat(nebula_ros): add velodyne json schema

Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp>
---
 nebula_ros/config/velodyne/VLP16.param.yaml   |  21 +++
 nebula_ros/config/velodyne/VLP16.yaml         |  10 --
 nebula_ros/config/velodyne/VLP32.param.yaml   |  21 +++
 nebula_ros/config/velodyne/VLP32.yaml         |  10 --
 nebula_ros/config/velodyne/VLS128.param.yaml  |  21 +++
 nebula_ros/config/velodyne/VLS128.yaml        |  10 --
 nebula_ros/launch/velodyne_launch_all_hw.xml  |  42 +----
 .../velodyne_ros_wrapper_node.schema.json     | 169 ++++++++++++++++++
 nebula_ros/src/velodyne/decoder_wrapper.cpp   |   2 +-
 .../src/velodyne/hw_interface_wrapper.cpp     |   2 +-
 .../src/velodyne/hw_monitor_wrapper.cpp       |   4 +-
 .../src/velodyne/velodyne_ros_wrapper.cpp     |  28 +--
 12 files changed, 255 insertions(+), 85 deletions(-)
 create mode 100644 nebula_ros/config/velodyne/VLP16.param.yaml
 delete mode 100644 nebula_ros/config/velodyne/VLP16.yaml
 create mode 100644 nebula_ros/config/velodyne/VLP32.param.yaml
 delete mode 100644 nebula_ros/config/velodyne/VLP32.yaml
 create mode 100644 nebula_ros/config/velodyne/VLS128.param.yaml
 delete mode 100644 nebula_ros/config/velodyne/VLS128.yaml
 create mode 100644 nebula_ros/schema/velodyne_ros_wrapper_node.schema.json

diff --git a/nebula_ros/config/velodyne/VLP16.param.yaml b/nebula_ros/config/velodyne/VLP16.param.yaml
new file mode 100644
index 000000000..aa7a224fa
--- /dev/null
+++ b/nebula_ros/config/velodyne/VLP16.param.yaml
@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP16.yaml"
+    setup_sensor: true
+    diag_span: 1000
+    advanced_diagnostics: false
+    launch_hw: false
+    sensor_model: "VLP16"
+    return_mode: "Dual"
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 2369
+    frame_id: velodyne
+    scan_phase: 1.0
+    min_range: 3.
+    max_range: 300.
+    packet_mtu_size: 1500
+    rotation_speed: 360
+    cloud_min_angle: 0
+    cloud_max_angle: 360
diff --git a/nebula_ros/config/velodyne/VLP16.yaml b/nebula_ros/config/velodyne/VLP16.yaml
deleted file mode 100644
index 1daf3a4c6..000000000
--- a/nebula_ros/config/velodyne/VLP16.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  ros__parameters:
-    sensor_model: "VLP16"
-    sensor_ip: "192.168.1.201"
-    host_ip: "255.255.255.255"
-    frame_id: "velodyne"
-    data_port: 2368
-    gnss_port: 2369
-    setup_sensor: True
-    online: True
diff --git a/nebula_ros/config/velodyne/VLP32.param.yaml b/nebula_ros/config/velodyne/VLP32.param.yaml
new file mode 100644
index 000000000..0e0ac7827
--- /dev/null
+++ b/nebula_ros/config/velodyne/VLP32.param.yaml
@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP32.yaml"
+    setup_sensor: true
+    diag_span: 1000
+    advanced_diagnostics: false
+    launch_hw: false
+    sensor_model: "VLP32"
+    return_mode: "Dual"
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 2369
+    frame_id: velodyne
+    scan_phase: 1.0
+    min_range: 3.
+    max_range: 300.
+    packet_mtu_size: 1500
+    rotation_speed: 360
+    cloud_min_angle: 0
+    cloud_max_angle: 360
diff --git a/nebula_ros/config/velodyne/VLP32.yaml b/nebula_ros/config/velodyne/VLP32.yaml
deleted file mode 100644
index ef5ae14c1..000000000
--- a/nebula_ros/config/velodyne/VLP32.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  ros__parameters:
-    sensor_model: "VLP32"
-    sensor_ip: "192.168.1.201"
-    host_ip: "255.255.255.255"
-    frame_id: "velodyne"
-    data_port: 2368
-    gnss_port: 2369
-    setup_sensor: True
-    online: True
diff --git a/nebula_ros/config/velodyne/VLS128.param.yaml b/nebula_ros/config/velodyne/VLS128.param.yaml
new file mode 100644
index 000000000..b254dd750
--- /dev/null
+++ b/nebula_ros/config/velodyne/VLS128.param.yaml
@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLS128.yaml"
+    setup_sensor: true
+    diag_span: 1000
+    advanced_diagnostics: false
+    launch_hw: false
+    sensor_model: "VLS128"
+    return_mode: "Dual"
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    gnss_port: 2369
+    frame_id: velodyne
+    scan_phase: 0.0
+    min_range: 3.0
+    max_range: 300.0
+    packet_mtu_size: 1500
+    rotation_speed: 360
+    cloud_min_angle: 0
+    cloud_max_angle: 360
diff --git a/nebula_ros/config/velodyne/VLS128.yaml b/nebula_ros/config/velodyne/VLS128.yaml
deleted file mode 100644
index db73ecc05..000000000
--- a/nebula_ros/config/velodyne/VLS128.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  ros__parameters:
-    sensor_model: "VLS128"
-    sensor_ip: "192.168.1.201"
-    host_ip: "255.255.255.255"
-    frame_id: "velodyne"
-    data_port: 2368
-    gnss_port: 2369
-    setup_sensor: True
-    online: True
diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index 717aa5afd..11f1ead12 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -1,42 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="launch_hw" default="true" />
-    <arg name="sensor_model" description="VLP16|VLP32|VLS128"/>
-    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
-    <arg name="frame_id"  default="velodyne"/>
-    <arg name="scan_phase" default="0.0" />
+  <arg name="sensor_model" description="VLP16|VLP32|VLS128"/>
+  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/velodyne/$(var sensor_model).param.yaml"/>
 
-    <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml"/>
-
-    <arg name="sensor_ip" default="192.168.1.201" description="Lidar Sensor IP"/>
-    <arg name="host_ip" default="255.255.255.255" description="Broadcast IP from Sensor"/>
-    <arg name="data_port" default="2368" description="LiDAR Data Port"/>
-    <arg name="gnss_port" default="2369" description="LiDAR GNSS Port"/>
-    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
-    <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
-    <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
-    <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
-    <arg name="diag_span" default="1000" description="milliseconds"/>
-
-    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
-
-    <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node"
-          name="nebula_velodyne" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="launch_hw" value="$(var launch_hw)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="setup_sensor" value="$(var setup_sensor)"/>
-    </node>
+  <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen">
+    <param from="$(var config_file)" allow_substs="true"/>
+  </node>
 
 </launch>
diff --git a/nebula_ros/schema/velodyne_ros_wrapper_node.schema.json b/nebula_ros/schema/velodyne_ros_wrapper_node.schema.json
new file mode 100644
index 000000000..a7d67a64f
--- /dev/null
+++ b/nebula_ros/schema/velodyne_ros_wrapper_node.schema.json
@@ -0,0 +1,169 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Nebula Velodyne nodes",
+  "type": "object",
+  "definitions": {
+    "velodyne_ros_wrapper_node": {
+      "type": "object",
+      "properties": {
+        "calibration_file": {
+          "type": "string",
+          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
+          "description": "Sensor calibration file."
+        },
+        "setup_sensor": {
+          "type": "boolean",
+          "default": true,
+          "readOnly": true,
+          "description": "Enable sensor setup on hw-driver."
+        },
+        "diag_span": {
+          "type": "integer",
+          "default": 1000,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Diagnostics rate."
+        },
+        "advanced_diagnostics": {
+          "type": "boolean",
+          "default": false,
+          "readOnly": true,
+          "description": "Enable advanced diagnostics."
+        },
+        "launch_hw": {
+          "type": "boolean",
+          "readOnly": false,
+          "description": "Launch hardware."
+        },
+        "sensor_model": {
+          "type": "string",
+          "readOnly": true,
+          "enum": ["VLP16", "VLP32", "VLS128"],
+          "description": "Lidar model."
+        },
+        "return_mode": {
+          "type": "string",
+          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
+          "description": "Sensor return mode."
+        },
+        "host_ip": {
+          "type": "string",
+          "default": "255.255.255.255",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Broadcast IP from Sensor."
+        },
+        "sensor_ip": {
+          "type": "string",
+          "default": "192.168.1.201",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Lidar Sensor IP."
+        },
+        "data_port": {
+          "type": "integer",
+          "default": 2368,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar Data Port."
+        },
+        "gnss_port": {
+          "type": "integer",
+          "default": 2369,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar GNSS Port."
+        },
+        "frame_id": {
+          "type": "string",
+          "default": "velodyne",
+          "description": "Pointcloud frame_id."
+        },
+        "scan_phase": {
+          "type": "number",
+          "default": 0.0,
+          "minimum": 0.0,
+          "maximum": 360.0,
+          "description": "Sensor scan phase."
+        },
+        "min_range": {
+          "type": "number",
+          "default": 0.3,
+          "minimum": 0.0,
+          "description": "Sensor minimum single point range."
+        },
+        "max_range": {
+          "type": "number",
+          "default": 300.0,
+          "minimum": 0.0,
+          "description": "Sensor maximum single point range."
+        },
+        "packet_mtu_size": {
+          "type": "integer",
+          "default": 1500,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Packet MTU size."
+        },
+        "rotation_speed": {
+          "type": "integer",
+          "default": 600,
+          "minimum": 300,
+          "maximum": 1200,
+          "multipleOf": 60,
+          "description": "Motor RPM, the sensor's internal spin rate."
+        },
+        "cloud_min_angle": {
+          "type": "integer",
+          "default": 0,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, start degrees."
+        },
+        "cloud_max_angle": {
+          "type": "integer",
+          "default": 360,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, end degrees."
+        }
+      },
+      "required": [
+        "calibration_file",
+        "setup_sensor",
+        "diag_span",
+        "advanced_diagnostics",
+        "launch_hw",
+        "sensor_model",
+        "return_mode",
+        "host_ip",
+        "sensor_ip",
+        "data_port",
+        "gnss_port",
+        "frame_id",
+        "scan_phase",
+        "min_range",
+        "max_range",
+        "packet_mtu_size",
+        "rotation_speed",
+        "cloud_min_angle",
+        "cloud_max_angle"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/velodyne_ros_wrapper_node"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
\ No newline at end of file
diff --git a/nebula_ros/src/velodyne/decoder_wrapper.cpp b/nebula_ros/src/velodyne/decoder_wrapper.cpp
index cfbf21869..d07383fbe 100644
--- a/nebula_ros/src/velodyne/decoder_wrapper.cpp
+++ b/nebula_ros/src/velodyne/decoder_wrapper.cpp
@@ -20,7 +20,7 @@ VelodyneDecoderWrapper::VelodyneDecoderWrapper(rclcpp::Node* const parent_node,
     throw std::runtime_error("VelodyneDecoderWrapper cannot be instantiated without a valid config!");
   }
 
-  calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
+  calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", param_read_write());
   auto calibration_result = GetCalibrationData(calibration_file_path_);
 
   if (!calibration_result.has_value())
diff --git a/nebula_ros/src/velodyne/hw_interface_wrapper.cpp b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
index 8ce73a2a8..38091f89b 100644
--- a/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_interface_wrapper.cpp
@@ -11,7 +11,7 @@ VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
   , logger_(parent_node->get_logger().get_child("HwInterfaceWrapper"))
   , status_(Status::NOT_INITIALIZED)
 {
-  setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", true, param_read_only());
+  setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", param_read_only());
 
   hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger().get_child("HwInterface")));
   status_ = hw_interface_->InitializeSensorConfiguration(config);
diff --git a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
index 836f81e6b..11bbff4c4 100644
--- a/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/velodyne/hw_monitor_wrapper.cpp
@@ -14,8 +14,8 @@ VelodyneHwMonitorWrapper::VelodyneHwMonitorWrapper(rclcpp::Node* const parent_no
   , parent_node_(parent_node)
   , sensor_configuration_(config)
 {
-  diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", 1000, param_read_only());
-  show_advanced_diagnostics_ = parent_node->declare_parameter<bool>("advanced_diagnostics", false, param_read_only());
+  diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", param_read_only());
+  show_advanced_diagnostics_ = parent_node->declare_parameter<bool>("advanced_diagnostics", param_read_only());
 
   std::cout << "Get model name and serial." << std::endl;
   auto str = hw_interface_->GetSnapshot();
diff --git a/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
index 88df4a529..d8246e7b5 100644
--- a/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
+++ b/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp
@@ -69,44 +69,44 @@ nebula::Status VelodyneRosWrapper::DeclareAndGetSensorConfigParams()
 {
   nebula::drivers::VelodyneSensorConfiguration config;
 
-  auto _sensor_model = declare_parameter<std::string>("sensor_model", "", param_read_only());
+  auto _sensor_model = declare_parameter<std::string>("sensor_model", param_read_only());
   config.sensor_model = drivers::SensorModelFromString(_sensor_model);
 
-  auto _return_mode = declare_parameter<std::string>("return_mode", "", param_read_write());
+  auto _return_mode = declare_parameter<std::string>("return_mode", param_read_write());
   config.return_mode = drivers::ReturnModeFromString(_return_mode);
 
-  config.host_ip = declare_parameter<std::string>("host_ip", "255.255.255.255", param_read_only());
-  config.sensor_ip = declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
-  config.data_port = declare_parameter<uint16_t>("data_port", 2368, param_read_only());
-  config.gnss_port = declare_parameter<uint16_t>("gnss_port", 2369, param_read_only());
-  config.frame_id = declare_parameter<std::string>("frame_id", "pandar", param_read_write());
+  config.host_ip = declare_parameter<std::string>("host_ip", param_read_only());
+  config.sensor_ip = declare_parameter<std::string>("sensor_ip", param_read_only());
+  config.data_port = declare_parameter<uint16_t>("data_port", param_read_only());
+  config.gnss_port = declare_parameter<uint16_t>("gnss_port", param_read_only());
+  config.frame_id = declare_parameter<std::string>("frame_id", param_read_write());
 
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.])";
     descriptor.floating_point_range = float_range(0, 360, 0.01);
-    config.scan_phase = declare_parameter<double>("scan_phase", 0., descriptor);
+    config.scan_phase = declare_parameter<double>("scan_phase", descriptor);
   }
 
-  config.min_range = declare_parameter<double>("min_range", 0.3, param_read_write());
-  config.max_range = declare_parameter<double>("max_range", 300., param_read_write());
-  config.packet_mtu_size = declare_parameter<uint16_t>("packet_mtu_size", 1500, param_read_only());
+  config.min_range = declare_parameter<double>("min_range", param_read_write());
+  config.max_range = declare_parameter<double>("max_range", param_read_write());
+  config.packet_mtu_size = declare_parameter<uint16_t>("packet_mtu_size", param_read_only());
 
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.additional_constraints = "from 300 to 1200, in increments of 60";
     descriptor.integer_range = int_range(300, 1200, 60);
-    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", descriptor);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.integer_range = int_range(0, 360, 1);
-    config.cloud_min_angle = declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+    config.cloud_min_angle = declare_parameter<uint16_t>("cloud_min_angle", descriptor);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.integer_range = int_range(0, 360, 1);
-    config.cloud_max_angle = declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+    config.cloud_max_angle = declare_parameter<uint16_t>("cloud_max_angle", descriptor);
   }
 
   auto new_cfg_ptr = std::make_shared<const nebula::drivers::VelodyneSensorConfiguration>(config);

From 0de4ffb90447d49ba2c0213cedc0ad76e0046d4f Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko@tier4.jp>
Date: Mon, 20 May 2024 19:56:18 +0900
Subject: [PATCH 060/122] chore(nebula_ros): update config

Signed-off-by: amadeuszsz <amadeusz.szymko@tier4.jp>
---
 nebula_ros/config/velodyne/VLP16.param.yaml  | 12 ++++++------
 nebula_ros/config/velodyne/VLP32.param.yaml  | 12 ++++++------
 nebula_ros/config/velodyne/VLS128.param.yaml |  6 +++---
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/nebula_ros/config/velodyne/VLP16.param.yaml b/nebula_ros/config/velodyne/VLP16.param.yaml
index aa7a224fa..6c0e35cbe 100644
--- a/nebula_ros/config/velodyne/VLP16.param.yaml
+++ b/nebula_ros/config/velodyne/VLP16.param.yaml
@@ -1,20 +1,20 @@
 /**:
   ros__parameters:
-    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP16.yaml"
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLS128.yaml"
     setup_sensor: true
     diag_span: 1000
     advanced_diagnostics: false
     launch_hw: false
-    sensor_model: "VLP16"
-    return_mode: "Dual"
+    sensor_model: VLP16
+    return_mode: Dual
     host_ip: "255.255.255.255"
     sensor_ip: "192.168.1.201"
     data_port: 2368
     gnss_port: 2369
     frame_id: velodyne
-    scan_phase: 1.0
-    min_range: 3.
-    max_range: 300.
+    scan_phase: 0.0
+    min_range: 0.3
+    max_range: 300.0
     packet_mtu_size: 1500
     rotation_speed: 360
     cloud_min_angle: 0
diff --git a/nebula_ros/config/velodyne/VLP32.param.yaml b/nebula_ros/config/velodyne/VLP32.param.yaml
index 0e0ac7827..bf6d1e041 100644
--- a/nebula_ros/config/velodyne/VLP32.param.yaml
+++ b/nebula_ros/config/velodyne/VLP32.param.yaml
@@ -1,20 +1,20 @@
 /**:
   ros__parameters:
-    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP32.yaml"
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLS128.yaml"
     setup_sensor: true
     diag_span: 1000
     advanced_diagnostics: false
     launch_hw: false
-    sensor_model: "VLP32"
-    return_mode: "Dual"
+    sensor_model: VLP32
+    return_mode: Dual
     host_ip: "255.255.255.255"
     sensor_ip: "192.168.1.201"
     data_port: 2368
     gnss_port: 2369
     frame_id: velodyne
-    scan_phase: 1.0
-    min_range: 3.
-    max_range: 300.
+    scan_phase: 0.0
+    min_range: 0.3
+    max_range: 300.0
     packet_mtu_size: 1500
     rotation_speed: 360
     cloud_min_angle: 0
diff --git a/nebula_ros/config/velodyne/VLS128.param.yaml b/nebula_ros/config/velodyne/VLS128.param.yaml
index b254dd750..19c1cfdb7 100644
--- a/nebula_ros/config/velodyne/VLS128.param.yaml
+++ b/nebula_ros/config/velodyne/VLS128.param.yaml
@@ -5,15 +5,15 @@
     diag_span: 1000
     advanced_diagnostics: false
     launch_hw: false
-    sensor_model: "VLS128"
-    return_mode: "Dual"
+    sensor_model: VLS128
+    return_mode: Dual
     host_ip: "255.255.255.255"
     sensor_ip: "192.168.1.201"
     data_port: 2368
     gnss_port: 2369
     frame_id: velodyne
     scan_phase: 0.0
-    min_range: 3.0
+    min_range: 0.3
     max_range: 300.0
     packet_mtu_size: 1500
     rotation_speed: 360

From a39a16743be629d714d437c6170fcd0424ad33bb Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko@tier4.jp>
Date: Mon, 20 May 2024 19:58:19 +0900
Subject: [PATCH 061/122] chore(nebula_ros): update schema

Signed-off-by: amadeuszsz <amadeusz.szymko@tier4.jp>
---
 ...per_node.schema.json => VLP16.schema.json} |   8 +-
 nebula_ros/schema/VLP32.schema.json           | 171 ++++++++++++++++++
 nebula_ros/schema/VLS128.schema.json          | 171 ++++++++++++++++++
 3 files changed, 347 insertions(+), 3 deletions(-)
 rename nebula_ros/schema/{velodyne_ros_wrapper_node.schema.json => VLP16.schema.json} (96%)
 create mode 100644 nebula_ros/schema/VLP32.schema.json
 create mode 100644 nebula_ros/schema/VLS128.schema.json

diff --git a/nebula_ros/schema/velodyne_ros_wrapper_node.schema.json b/nebula_ros/schema/VLP16.schema.json
similarity index 96%
rename from nebula_ros/schema/velodyne_ros_wrapper_node.schema.json
rename to nebula_ros/schema/VLP16.schema.json
index a7d67a64f..4c04002ad 100644
--- a/nebula_ros/schema/velodyne_ros_wrapper_node.schema.json
+++ b/nebula_ros/schema/VLP16.schema.json
@@ -1,14 +1,16 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for Nebula Velodyne nodes",
+  "vendor": "velodyne",
+  "title": "Parameters for Nebula Velodyne VLP16",
   "type": "object",
   "definitions": {
-    "velodyne_ros_wrapper_node": {
+    "VLP16": {
       "type": "object",
       "properties": {
         "calibration_file": {
           "type": "string",
           "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
+          "pattern": "^.*\\.yaml$",
           "description": "Sensor calibration file."
         },
         "setup_sensor": {
@@ -157,7 +159,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/velodyne_ros_wrapper_node"
+          "$ref": "#/definitions/VLP16"
         }
       },
       "required": ["ros__parameters"],
diff --git a/nebula_ros/schema/VLP32.schema.json b/nebula_ros/schema/VLP32.schema.json
new file mode 100644
index 000000000..de2cae395
--- /dev/null
+++ b/nebula_ros/schema/VLP32.schema.json
@@ -0,0 +1,171 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "vendor": "velodyne",
+  "title": "Parameters for Nebula Velodyne VLP32",
+  "type": "object",
+  "definitions": {
+    "VLP32": {
+      "type": "object",
+      "properties": {
+        "calibration_file": {
+          "type": "string",
+          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
+          "pattern": "^.*\\.yaml$",
+          "description": "Sensor calibration file."
+        },
+        "setup_sensor": {
+          "type": "boolean",
+          "default": true,
+          "readOnly": true,
+          "description": "Enable sensor setup on hw-driver."
+        },
+        "diag_span": {
+          "type": "integer",
+          "default": 1000,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Diagnostics rate."
+        },
+        "advanced_diagnostics": {
+          "type": "boolean",
+          "default": false,
+          "readOnly": true,
+          "description": "Enable advanced diagnostics."
+        },
+        "launch_hw": {
+          "type": "boolean",
+          "readOnly": false,
+          "description": "Launch hardware."
+        },
+        "sensor_model": {
+          "type": "string",
+          "readOnly": true,
+          "enum": ["VLP16", "VLP32", "VLS128"],
+          "description": "Lidar model."
+        },
+        "return_mode": {
+          "type": "string",
+          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
+          "description": "Sensor return mode."
+        },
+        "host_ip": {
+          "type": "string",
+          "default": "255.255.255.255",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Broadcast IP from Sensor."
+        },
+        "sensor_ip": {
+          "type": "string",
+          "default": "192.168.1.201",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Lidar Sensor IP."
+        },
+        "data_port": {
+          "type": "integer",
+          "default": 2368,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar Data Port."
+        },
+        "gnss_port": {
+          "type": "integer",
+          "default": 2369,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar GNSS Port."
+        },
+        "frame_id": {
+          "type": "string",
+          "default": "velodyne",
+          "description": "Pointcloud frame_id."
+        },
+        "scan_phase": {
+          "type": "number",
+          "default": 0.0,
+          "minimum": 0.0,
+          "maximum": 360.0,
+          "description": "Sensor scan phase."
+        },
+        "min_range": {
+          "type": "number",
+          "default": 0.3,
+          "minimum": 0.0,
+          "description": "Sensor minimum single point range."
+        },
+        "max_range": {
+          "type": "number",
+          "default": 300.0,
+          "minimum": 0.0,
+          "description": "Sensor maximum single point range."
+        },
+        "packet_mtu_size": {
+          "type": "integer",
+          "default": 1500,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Packet MTU size."
+        },
+        "rotation_speed": {
+          "type": "integer",
+          "default": 600,
+          "minimum": 300,
+          "maximum": 1200,
+          "multipleOf": 60,
+          "description": "Motor RPM, the sensor's internal spin rate."
+        },
+        "cloud_min_angle": {
+          "type": "integer",
+          "default": 0,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, start degrees."
+        },
+        "cloud_max_angle": {
+          "type": "integer",
+          "default": 360,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, end degrees."
+        }
+      },
+      "required": [
+        "calibration_file",
+        "setup_sensor",
+        "diag_span",
+        "advanced_diagnostics",
+        "launch_hw",
+        "sensor_model",
+        "return_mode",
+        "host_ip",
+        "sensor_ip",
+        "data_port",
+        "gnss_port",
+        "frame_id",
+        "scan_phase",
+        "min_range",
+        "max_range",
+        "packet_mtu_size",
+        "rotation_speed",
+        "cloud_min_angle",
+        "cloud_max_angle"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/VLP32"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
\ No newline at end of file
diff --git a/nebula_ros/schema/VLS128.schema.json b/nebula_ros/schema/VLS128.schema.json
new file mode 100644
index 000000000..0a49b8fb6
--- /dev/null
+++ b/nebula_ros/schema/VLS128.schema.json
@@ -0,0 +1,171 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "vendor": "velodyne",
+  "title": "Parameters for Nebula Velodyne VLS128",
+  "type": "object",
+  "definitions": {
+    "VLS128": {
+      "type": "object",
+      "properties": {
+        "calibration_file": {
+          "type": "string",
+          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
+          "pattern": "^.*\\.yaml$",
+          "description": "Sensor calibration file."
+        },
+        "setup_sensor": {
+          "type": "boolean",
+          "default": true,
+          "readOnly": true,
+          "description": "Enable sensor setup on hw-driver."
+        },
+        "diag_span": {
+          "type": "integer",
+          "default": 1000,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Diagnostics rate."
+        },
+        "advanced_diagnostics": {
+          "type": "boolean",
+          "default": false,
+          "readOnly": true,
+          "description": "Enable advanced diagnostics."
+        },
+        "launch_hw": {
+          "type": "boolean",
+          "readOnly": false,
+          "description": "Launch hardware."
+        },
+        "sensor_model": {
+          "type": "string",
+          "readOnly": true,
+          "enum": ["VLP16", "VLP32", "VLS128"],
+          "description": "Lidar model."
+        },
+        "return_mode": {
+          "type": "string",
+          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
+          "description": "Sensor return mode."
+        },
+        "host_ip": {
+          "type": "string",
+          "default": "255.255.255.255",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Broadcast IP from Sensor."
+        },
+        "sensor_ip": {
+          "type": "string",
+          "default": "192.168.1.201",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Lidar Sensor IP."
+        },
+        "data_port": {
+          "type": "integer",
+          "default": 2368,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar Data Port."
+        },
+        "gnss_port": {
+          "type": "integer",
+          "default": 2369,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Lidar GNSS Port."
+        },
+        "frame_id": {
+          "type": "string",
+          "default": "velodyne",
+          "description": "Pointcloud frame_id."
+        },
+        "scan_phase": {
+          "type": "number",
+          "default": 0.0,
+          "minimum": 0.0,
+          "maximum": 360.0,
+          "description": "Sensor scan phase."
+        },
+        "min_range": {
+          "type": "number",
+          "default": 0.3,
+          "minimum": 0.0,
+          "description": "Sensor minimum single point range."
+        },
+        "max_range": {
+          "type": "number",
+          "default": 300.0,
+          "minimum": 0.0,
+          "description": "Sensor maximum single point range."
+        },
+        "packet_mtu_size": {
+          "type": "integer",
+          "default": 1500,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Packet MTU size."
+        },
+        "rotation_speed": {
+          "type": "integer",
+          "default": 600,
+          "minimum": 300,
+          "maximum": 1200,
+          "multipleOf": 60,
+          "description": "Motor RPM, the sensor's internal spin rate."
+        },
+        "cloud_min_angle": {
+          "type": "integer",
+          "default": 0,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, start degrees."
+        },
+        "cloud_max_angle": {
+          "type": "integer",
+          "default": 360,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, end degrees."
+        }
+      },
+      "required": [
+        "calibration_file",
+        "setup_sensor",
+        "diag_span",
+        "advanced_diagnostics",
+        "launch_hw",
+        "sensor_model",
+        "return_mode",
+        "host_ip",
+        "sensor_ip",
+        "data_port",
+        "gnss_port",
+        "frame_id",
+        "scan_phase",
+        "min_range",
+        "max_range",
+        "packet_mtu_size",
+        "rotation_speed",
+        "cloud_min_angle",
+        "cloud_max_angle"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/VLS128"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
\ No newline at end of file

From 236600d5fb026ada7b6ca5456d31c9016754e607 Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko@tier4.jp>
Date: Mon, 20 May 2024 19:59:09 +0900
Subject: [PATCH 062/122] chore(nebula): add json schema workflow

Signed-off-by: amadeuszsz <amadeusz.szymko@tier4.jp>
---
 .github/workflows/json-schema-check.yaml   | 44 +++++++++++++++++
 .github/workflows/validate_json.schemas.py | 56 ++++++++++++++++++++++
 2 files changed, 100 insertions(+)
 create mode 100644 .github/workflows/json-schema-check.yaml
 create mode 100644 .github/workflows/validate_json.schemas.py

diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml
new file mode 100644
index 000000000..a24dc0444
--- /dev/null
+++ b/.github/workflows/json-schema-check.yaml
@@ -0,0 +1,44 @@
+name: json-schema-check
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-latest
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/*.param.yaml'
+
+  json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: pip install check-jsonschema colorama
+        shell: bash
+
+      - name: Validate schemas
+        run: python ${GITHUB_ACTION_PATH}/validate_json_schemas.py
+        shell: bash
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"
\ No newline at end of file
diff --git a/.github/workflows/validate_json.schemas.py b/.github/workflows/validate_json.schemas.py
new file mode 100644
index 000000000..b33fa11c2
--- /dev/null
+++ b/.github/workflows/validate_json.schemas.py
@@ -0,0 +1,56 @@
+# https://github.com/autowarefoundation/autoware-github-actions/blob/61bc6c5399f6e9ce1928d1e1112f9c75e015167f/json-schema-check/validate_json_schemas.py
+
+import os
+import subprocess
+import glob
+import colorama
+import json
+
+colorama.init(autoreset=True, strip=False)
+
+def main():
+    validation_failed = False
+
+    for schema_path in glob.glob('./**/schema/**/*.schema.json', recursive=True):
+        with open(schema_path) as f:
+            schema = json.load(f)
+        schema_file = os.path.relpath(schema_path, './')
+        base_name = os.path.basename(schema_file).replace('.schema.json', '')
+        config_dir = os.path.dirname(schema_file).replace('schema', os.path.join('config', schema['vendor']))
+        print(base_name)
+        print(config_dir)
+
+        str_indentation = ' ' * 4
+        config_files = glob.glob(f'{config_dir}/{base_name}*.param.yaml')
+        if not config_files:
+            print(colorama.Fore.YELLOW + f'{str_indentation}No configuration files found for schema {schema_file}.')
+            continue
+
+        for config_file in config_files:
+            print(
+                colorama.Style.BRIGHT + '🔍 Validating: ' +
+                colorama.Style.RESET_ALL +
+                colorama.Fore.CYAN + f'{config_file} ' +
+                colorama.Style.RESET_ALL + '🆚 ' +
+                colorama.Fore.BLUE + f'{schema_file}' +
+                colorama.Style.RESET_ALL,
+                end=' '
+            )
+            result = subprocess.run(['check-jsonschema', '--schemafile', schema_file, config_file], capture_output=True)
+            if result.returncode != 0:
+                print(colorama.Fore.RED + '❌ Failed')
+                for line in result.stdout.decode('utf-8').split('\n'):
+                    if line:
+                        print(colorama.Fore.RED + str_indentation + line)
+                validation_failed = True
+            else:
+                print(colorama.Fore.GREEN + '✅ Passed')
+
+    if validation_failed:
+        print(colorama.Style.BRIGHT + colorama.Fore.RED + '❗ Validation failed for one or more files.')
+        exit(1)
+    else:
+        print(colorama.Style.BRIGHT + colorama.Fore.GREEN + '✔️ All validations passed successfully.')
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file

From 30d963dcd91765fa1cd297cdbe5c3d18a84fe63e Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko.2@tier4.jp>
Date: Tue, 21 May 2024 18:35:39 +0900
Subject: [PATCH 063/122] ci(nebula): use of autoware actions repo

Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp>
---
 .github/workflows/json-schema-check.yaml   | 12 ++---
 .github/workflows/validate_json.schemas.py | 56 ----------------------
 2 files changed, 4 insertions(+), 64 deletions(-)
 delete mode 100644 .github/workflows/validate_json.schemas.py

diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml
index a24dc0444..00482c2b5 100644
--- a/.github/workflows/json-schema-check.yaml
+++ b/.github/workflows/json-schema-check.yaml
@@ -17,7 +17,8 @@ jobs:
           filters: |
             json_or_yaml:
               - '**/schema/*.schema.json'
-              - '**/config/*.param.yaml'
+              - '**/schema/sub/.json'
+              - '**/config/**/*.param.yaml'
 
   json-schema-check:
     needs: check-if-relevant-files-changed
@@ -27,13 +28,8 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Install dependencies
-        run: pip install check-jsonschema colorama
-        shell: bash
-
-      - name: Validate schemas
-        run: python ${GITHUB_ACTION_PATH}/validate_json_schemas.py
-        shell: bash
+      - name: Run json-schema-check
+        uses: autowarefoundation/autoware-github-actions/json-schema-check@v1
 
   no-relevant-changes:
     needs: check-if-relevant-files-changed
diff --git a/.github/workflows/validate_json.schemas.py b/.github/workflows/validate_json.schemas.py
deleted file mode 100644
index b33fa11c2..000000000
--- a/.github/workflows/validate_json.schemas.py
+++ /dev/null
@@ -1,56 +0,0 @@
-# https://github.com/autowarefoundation/autoware-github-actions/blob/61bc6c5399f6e9ce1928d1e1112f9c75e015167f/json-schema-check/validate_json_schemas.py
-
-import os
-import subprocess
-import glob
-import colorama
-import json
-
-colorama.init(autoreset=True, strip=False)
-
-def main():
-    validation_failed = False
-
-    for schema_path in glob.glob('./**/schema/**/*.schema.json', recursive=True):
-        with open(schema_path) as f:
-            schema = json.load(f)
-        schema_file = os.path.relpath(schema_path, './')
-        base_name = os.path.basename(schema_file).replace('.schema.json', '')
-        config_dir = os.path.dirname(schema_file).replace('schema', os.path.join('config', schema['vendor']))
-        print(base_name)
-        print(config_dir)
-
-        str_indentation = ' ' * 4
-        config_files = glob.glob(f'{config_dir}/{base_name}*.param.yaml')
-        if not config_files:
-            print(colorama.Fore.YELLOW + f'{str_indentation}No configuration files found for schema {schema_file}.')
-            continue
-
-        for config_file in config_files:
-            print(
-                colorama.Style.BRIGHT + '🔍 Validating: ' +
-                colorama.Style.RESET_ALL +
-                colorama.Fore.CYAN + f'{config_file} ' +
-                colorama.Style.RESET_ALL + '🆚 ' +
-                colorama.Fore.BLUE + f'{schema_file}' +
-                colorama.Style.RESET_ALL,
-                end=' '
-            )
-            result = subprocess.run(['check-jsonschema', '--schemafile', schema_file, config_file], capture_output=True)
-            if result.returncode != 0:
-                print(colorama.Fore.RED + '❌ Failed')
-                for line in result.stdout.decode('utf-8').split('\n'):
-                    if line:
-                        print(colorama.Fore.RED + str_indentation + line)
-                validation_failed = True
-            else:
-                print(colorama.Fore.GREEN + '✅ Passed')
-
-    if validation_failed:
-        print(colorama.Style.BRIGHT + colorama.Fore.RED + '❗ Validation failed for one or more files.')
-        exit(1)
-    else:
-        print(colorama.Style.BRIGHT + colorama.Fore.GREEN + '✔️ All validations passed successfully.')
-
-if __name__ == "__main__":
-    main()
\ No newline at end of file

From 051228365c92da5db323c171280f6742dd9754fc Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko.2@tier4.jp>
Date: Tue, 21 May 2024 18:43:35 +0900
Subject: [PATCH 064/122] chore(nebula_ros): add schema composition

Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp>
---
 .../{ => lidar}/velodyne/VLP16.param.yaml     |   2 +-
 .../{ => lidar}/velodyne/VLP32.param.yaml     |   2 +-
 .../{ => lidar}/velodyne/VLS128.param.yaml    |   0
 nebula_ros/launch/velodyne_launch_all_hw.xml  |   2 +-
 nebula_ros/schema/VLP16.schema.json           | 160 ++----------------
 nebula_ros/schema/VLP32.schema.json           | 160 ++----------------
 nebula_ros/schema/VLS128.schema.json          | 160 ++----------------
 nebula_ros/schema/sub/lidar.json              |  35 ++++
 nebula_ros/schema/sub/nebula.json             |  44 +++++
 nebula_ros/schema/sub/velodyne.json           | 123 ++++++++++++++
 10 files changed, 244 insertions(+), 444 deletions(-)
 rename nebula_ros/config/{ => lidar}/velodyne/VLP16.param.yaml (95%)
 rename nebula_ros/config/{ => lidar}/velodyne/VLP32.param.yaml (95%)
 rename nebula_ros/config/{ => lidar}/velodyne/VLS128.param.yaml (100%)
 create mode 100644 nebula_ros/schema/sub/lidar.json
 create mode 100644 nebula_ros/schema/sub/nebula.json
 create mode 100644 nebula_ros/schema/sub/velodyne.json

diff --git a/nebula_ros/config/velodyne/VLP16.param.yaml b/nebula_ros/config/lidar/velodyne/VLP16.param.yaml
similarity index 95%
rename from nebula_ros/config/velodyne/VLP16.param.yaml
rename to nebula_ros/config/lidar/velodyne/VLP16.param.yaml
index 6c0e35cbe..9ce09de50 100644
--- a/nebula_ros/config/velodyne/VLP16.param.yaml
+++ b/nebula_ros/config/lidar/velodyne/VLP16.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLS128.yaml"
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP16.yaml"
     setup_sensor: true
     diag_span: 1000
     advanced_diagnostics: false
diff --git a/nebula_ros/config/velodyne/VLP32.param.yaml b/nebula_ros/config/lidar/velodyne/VLP32.param.yaml
similarity index 95%
rename from nebula_ros/config/velodyne/VLP32.param.yaml
rename to nebula_ros/config/lidar/velodyne/VLP32.param.yaml
index bf6d1e041..d2f328476 100644
--- a/nebula_ros/config/velodyne/VLP32.param.yaml
+++ b/nebula_ros/config/lidar/velodyne/VLP32.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLS128.yaml"
+    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP32.yaml"
     setup_sensor: true
     diag_span: 1000
     advanced_diagnostics: false
diff --git a/nebula_ros/config/velodyne/VLS128.param.yaml b/nebula_ros/config/lidar/velodyne/VLS128.param.yaml
similarity index 100%
rename from nebula_ros/config/velodyne/VLS128.param.yaml
rename to nebula_ros/config/lidar/velodyne/VLS128.param.yaml
diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
index 11f1ead12..d2f030b29 100644
--- a/nebula_ros/launch/velodyne_launch_all_hw.xml
+++ b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="sensor_model" description="VLP16|VLP32|VLS128"/>
-  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/velodyne/$(var sensor_model).param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/velodyne/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
diff --git a/nebula_ros/schema/VLP16.schema.json b/nebula_ros/schema/VLP16.schema.json
index 4c04002ad..4aadb40a4 100644
--- a/nebula_ros/schema/VLP16.schema.json
+++ b/nebula_ros/schema/VLP16.schema.json
@@ -1,157 +1,19 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "vendor": "velodyne",
-  "title": "Parameters for Nebula Velodyne VLP16",
+  "title": "LiDAR Velodyne VLP16 parameters.",
   "type": "object",
   "definitions": {
     "VLP16": {
       "type": "object",
       "properties": {
-        "calibration_file": {
-          "type": "string",
-          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
-          "pattern": "^.*\\.yaml$",
-          "description": "Sensor calibration file."
-        },
-        "setup_sensor": {
-          "type": "boolean",
-          "default": true,
-          "readOnly": true,
-          "description": "Enable sensor setup on hw-driver."
-        },
-        "diag_span": {
-          "type": "integer",
-          "default": 1000,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Diagnostics rate."
-        },
-        "advanced_diagnostics": {
-          "type": "boolean",
-          "default": false,
-          "readOnly": true,
-          "description": "Enable advanced diagnostics."
-        },
-        "launch_hw": {
-          "type": "boolean",
-          "readOnly": false,
-          "description": "Launch hardware."
-        },
-        "sensor_model": {
-          "type": "string",
-          "readOnly": true,
-          "enum": ["VLP16", "VLP32", "VLS128"],
-          "description": "Lidar model."
-        },
-        "return_mode": {
-          "type": "string",
-          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
-          "description": "Sensor return mode."
-        },
-        "host_ip": {
-          "type": "string",
-          "default": "255.255.255.255",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Broadcast IP from Sensor."
-        },
-        "sensor_ip": {
-          "type": "string",
-          "default": "192.168.1.201",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Lidar Sensor IP."
-        },
-        "data_port": {
-          "type": "integer",
-          "default": 2368,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar Data Port."
-        },
-        "gnss_port": {
-          "type": "integer",
-          "default": 2369,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar GNSS Port."
-        },
-        "frame_id": {
-          "type": "string",
-          "default": "velodyne",
-          "description": "Pointcloud frame_id."
-        },
-        "scan_phase": {
-          "type": "number",
-          "default": 0.0,
-          "minimum": 0.0,
-          "maximum": 360.0,
-          "description": "Sensor scan phase."
-        },
-        "min_range": {
-          "type": "number",
-          "default": 0.3,
-          "minimum": 0.0,
-          "description": "Sensor minimum single point range."
-        },
-        "max_range": {
-          "type": "number",
-          "default": 300.0,
-          "minimum": 0.0,
-          "description": "Sensor maximum single point range."
-        },
-        "packet_mtu_size": {
-          "type": "integer",
-          "default": 1500,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Packet MTU size."
-        },
-        "rotation_speed": {
-          "type": "integer",
-          "default": 600,
-          "minimum": 300,
-          "maximum": 1200,
-          "multipleOf": 60,
-          "description": "Motor RPM, the sensor's internal spin rate."
-        },
-        "cloud_min_angle": {
-          "type": "integer",
-          "default": 0,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, start degrees."
-        },
-        "cloud_max_angle": {
-          "type": "integer",
-          "default": 360,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, end degrees."
-        }
       },
-      "required": [
-        "calibration_file",
-        "setup_sensor",
-        "diag_span",
-        "advanced_diagnostics",
-        "launch_hw",
-        "sensor_model",
-        "return_mode",
-        "host_ip",
-        "sensor_ip",
-        "data_port",
-        "gnss_port",
-        "frame_id",
-        "scan_phase",
-        "min_range",
-        "max_range",
-        "packet_mtu_size",
-        "rotation_speed",
-        "cloud_min_angle",
-        "cloud_max_angle"
+      "allOf": [
+        {
+          "$ref": "sub/velodyne.json#/definitions/velodyne"
+        }
       ],
-      "additionalProperties": false
+      "required": [
+      ]
     }
   },
   "properties": {
@@ -162,10 +24,14 @@
           "$ref": "#/definitions/VLP16"
         }
       },
-      "required": ["ros__parameters"],
+      "required": [
+        "ros__parameters"
+      ],
       "additionalProperties": false
     }
   },
-  "required": ["/**"],
+  "required": [
+    "/**"
+  ],
   "additionalProperties": false
 }
\ No newline at end of file
diff --git a/nebula_ros/schema/VLP32.schema.json b/nebula_ros/schema/VLP32.schema.json
index de2cae395..9adb5d98b 100644
--- a/nebula_ros/schema/VLP32.schema.json
+++ b/nebula_ros/schema/VLP32.schema.json
@@ -1,157 +1,19 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "vendor": "velodyne",
-  "title": "Parameters for Nebula Velodyne VLP32",
+  "title": "LiDAR Velodyne VLP32 parameters.",
   "type": "object",
   "definitions": {
     "VLP32": {
       "type": "object",
       "properties": {
-        "calibration_file": {
-          "type": "string",
-          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
-          "pattern": "^.*\\.yaml$",
-          "description": "Sensor calibration file."
-        },
-        "setup_sensor": {
-          "type": "boolean",
-          "default": true,
-          "readOnly": true,
-          "description": "Enable sensor setup on hw-driver."
-        },
-        "diag_span": {
-          "type": "integer",
-          "default": 1000,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Diagnostics rate."
-        },
-        "advanced_diagnostics": {
-          "type": "boolean",
-          "default": false,
-          "readOnly": true,
-          "description": "Enable advanced diagnostics."
-        },
-        "launch_hw": {
-          "type": "boolean",
-          "readOnly": false,
-          "description": "Launch hardware."
-        },
-        "sensor_model": {
-          "type": "string",
-          "readOnly": true,
-          "enum": ["VLP16", "VLP32", "VLS128"],
-          "description": "Lidar model."
-        },
-        "return_mode": {
-          "type": "string",
-          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
-          "description": "Sensor return mode."
-        },
-        "host_ip": {
-          "type": "string",
-          "default": "255.255.255.255",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Broadcast IP from Sensor."
-        },
-        "sensor_ip": {
-          "type": "string",
-          "default": "192.168.1.201",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Lidar Sensor IP."
-        },
-        "data_port": {
-          "type": "integer",
-          "default": 2368,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar Data Port."
-        },
-        "gnss_port": {
-          "type": "integer",
-          "default": 2369,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar GNSS Port."
-        },
-        "frame_id": {
-          "type": "string",
-          "default": "velodyne",
-          "description": "Pointcloud frame_id."
-        },
-        "scan_phase": {
-          "type": "number",
-          "default": 0.0,
-          "minimum": 0.0,
-          "maximum": 360.0,
-          "description": "Sensor scan phase."
-        },
-        "min_range": {
-          "type": "number",
-          "default": 0.3,
-          "minimum": 0.0,
-          "description": "Sensor minimum single point range."
-        },
-        "max_range": {
-          "type": "number",
-          "default": 300.0,
-          "minimum": 0.0,
-          "description": "Sensor maximum single point range."
-        },
-        "packet_mtu_size": {
-          "type": "integer",
-          "default": 1500,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Packet MTU size."
-        },
-        "rotation_speed": {
-          "type": "integer",
-          "default": 600,
-          "minimum": 300,
-          "maximum": 1200,
-          "multipleOf": 60,
-          "description": "Motor RPM, the sensor's internal spin rate."
-        },
-        "cloud_min_angle": {
-          "type": "integer",
-          "default": 0,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, start degrees."
-        },
-        "cloud_max_angle": {
-          "type": "integer",
-          "default": 360,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, end degrees."
-        }
       },
-      "required": [
-        "calibration_file",
-        "setup_sensor",
-        "diag_span",
-        "advanced_diagnostics",
-        "launch_hw",
-        "sensor_model",
-        "return_mode",
-        "host_ip",
-        "sensor_ip",
-        "data_port",
-        "gnss_port",
-        "frame_id",
-        "scan_phase",
-        "min_range",
-        "max_range",
-        "packet_mtu_size",
-        "rotation_speed",
-        "cloud_min_angle",
-        "cloud_max_angle"
+      "allOf": [
+        {
+          "$ref": "sub/velodyne.json#/definitions/velodyne"
+        }
       ],
-      "additionalProperties": false
+      "required": [
+      ]
     }
   },
   "properties": {
@@ -162,10 +24,14 @@
           "$ref": "#/definitions/VLP32"
         }
       },
-      "required": ["ros__parameters"],
+      "required": [
+        "ros__parameters"
+      ],
       "additionalProperties": false
     }
   },
-  "required": ["/**"],
+  "required": [
+    "/**"
+  ],
   "additionalProperties": false
 }
\ No newline at end of file
diff --git a/nebula_ros/schema/VLS128.schema.json b/nebula_ros/schema/VLS128.schema.json
index 0a49b8fb6..8b5d6375b 100644
--- a/nebula_ros/schema/VLS128.schema.json
+++ b/nebula_ros/schema/VLS128.schema.json
@@ -1,157 +1,19 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "vendor": "velodyne",
-  "title": "Parameters for Nebula Velodyne VLS128",
+  "title": "LiDAR Velodyne VLS128 parameters.",
   "type": "object",
   "definitions": {
     "VLS128": {
       "type": "object",
       "properties": {
-        "calibration_file": {
-          "type": "string",
-          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
-          "pattern": "^.*\\.yaml$",
-          "description": "Sensor calibration file."
-        },
-        "setup_sensor": {
-          "type": "boolean",
-          "default": true,
-          "readOnly": true,
-          "description": "Enable sensor setup on hw-driver."
-        },
-        "diag_span": {
-          "type": "integer",
-          "default": 1000,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Diagnostics rate."
-        },
-        "advanced_diagnostics": {
-          "type": "boolean",
-          "default": false,
-          "readOnly": true,
-          "description": "Enable advanced diagnostics."
-        },
-        "launch_hw": {
-          "type": "boolean",
-          "readOnly": false,
-          "description": "Launch hardware."
-        },
-        "sensor_model": {
-          "type": "string",
-          "readOnly": true,
-          "enum": ["VLP16", "VLP32", "VLS128"],
-          "description": "Lidar model."
-        },
-        "return_mode": {
-          "type": "string",
-          "enum":["SingleFirst", "SingleStrongest", "SingleLast", "Dual"],
-          "description": "Sensor return mode."
-        },
-        "host_ip": {
-          "type": "string",
-          "default": "255.255.255.255",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Broadcast IP from Sensor."
-        },
-        "sensor_ip": {
-          "type": "string",
-          "default": "192.168.1.201",
-          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
-          "readOnly": true,
-          "description": "Lidar Sensor IP."
-        },
-        "data_port": {
-          "type": "integer",
-          "default": 2368,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar Data Port."
-        },
-        "gnss_port": {
-          "type": "integer",
-          "default": 2369,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Lidar GNSS Port."
-        },
-        "frame_id": {
-          "type": "string",
-          "default": "velodyne",
-          "description": "Pointcloud frame_id."
-        },
-        "scan_phase": {
-          "type": "number",
-          "default": 0.0,
-          "minimum": 0.0,
-          "maximum": 360.0,
-          "description": "Sensor scan phase."
-        },
-        "min_range": {
-          "type": "number",
-          "default": 0.3,
-          "minimum": 0.0,
-          "description": "Sensor minimum single point range."
-        },
-        "max_range": {
-          "type": "number",
-          "default": 300.0,
-          "minimum": 0.0,
-          "description": "Sensor maximum single point range."
-        },
-        "packet_mtu_size": {
-          "type": "integer",
-          "default": 1500,
-          "minimum": 0,
-          "readOnly": true,
-          "description": "Packet MTU size."
-        },
-        "rotation_speed": {
-          "type": "integer",
-          "default": 600,
-          "minimum": 300,
-          "maximum": 1200,
-          "multipleOf": 60,
-          "description": "Motor RPM, the sensor's internal spin rate."
-        },
-        "cloud_min_angle": {
-          "type": "integer",
-          "default": 0,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, start degrees."
-        },
-        "cloud_max_angle": {
-          "type": "integer",
-          "default": 360,
-          "minimum": 0,
-          "maximum": 360,
-          "description": "Field of View, end degrees."
-        }
       },
-      "required": [
-        "calibration_file",
-        "setup_sensor",
-        "diag_span",
-        "advanced_diagnostics",
-        "launch_hw",
-        "sensor_model",
-        "return_mode",
-        "host_ip",
-        "sensor_ip",
-        "data_port",
-        "gnss_port",
-        "frame_id",
-        "scan_phase",
-        "min_range",
-        "max_range",
-        "packet_mtu_size",
-        "rotation_speed",
-        "cloud_min_angle",
-        "cloud_max_angle"
+      "allOf": [
+        {
+          "$ref": "sub/velodyne.json#/definitions/velodyne"
+        }
       ],
-      "additionalProperties": false
+      "required": [
+      ]
     }
   },
   "properties": {
@@ -162,10 +24,14 @@
           "$ref": "#/definitions/VLS128"
         }
       },
-      "required": ["ros__parameters"],
+      "required": [
+        "ros__parameters"
+      ],
       "additionalProperties": false
     }
   },
-  "required": ["/**"],
+  "required": [
+    "/**"
+  ],
   "additionalProperties": false
 }
\ No newline at end of file
diff --git a/nebula_ros/schema/sub/lidar.json b/nebula_ros/schema/sub/lidar.json
new file mode 100644
index 000000000..b12e242fd
--- /dev/null
+++ b/nebula_ros/schema/sub/lidar.json
@@ -0,0 +1,35 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "LiDAR common parameters.",
+  "type": "object",
+  "definitions": {
+    "lidar": {
+      "type": "object",
+      "properties": {
+        "diag_span": {
+          "type": "integer",
+          "default": 1000,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Diagnostics rate."
+        },
+        "scan_phase": {
+          "type": "number",
+          "default": 0.0,
+          "minimum": 0.0,
+          "maximum": 360.0,
+          "description": "Sensor scan phase."
+        }
+      },
+      "allOf": [
+        {
+          "$ref": "nebula.json#/definitions/nebula"
+        }
+      ],
+      "required": [
+        "diag_span",
+        "scan_phase"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/nebula_ros/schema/sub/nebula.json b/nebula_ros/schema/sub/nebula.json
new file mode 100644
index 000000000..6f977cf41
--- /dev/null
+++ b/nebula_ros/schema/sub/nebula.json
@@ -0,0 +1,44 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Sensors common parameters.",
+  "type": "object",
+  "definitions": {
+    "nebula": {
+      "type": "object",
+      "properties": {
+        "host_ip": {
+          "type": "string",
+          "default": "255.255.255.255",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Host IPv4 address."
+        },
+        "sensor_ip": {
+          "type": "string",
+          "default": "192.168.1.201",
+          "pattern": "^((25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\\.){3}(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)$",
+          "readOnly": true,
+          "description": "Sensor IPv4 address."
+        },
+        "data_port": {
+          "type": "integer",
+          "default": 2368,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Sensor data port."
+        },
+        "frame_id": {
+          "type": "string",
+          "default": "data_link",
+          "description": "Sensor data frame_id."
+        }
+      },
+      "required": [
+        "host_ip",
+        "sensor_ip",
+        "data_port",
+        "frame_id"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/nebula_ros/schema/sub/velodyne.json b/nebula_ros/schema/sub/velodyne.json
new file mode 100644
index 000000000..1c2e186b8
--- /dev/null
+++ b/nebula_ros/schema/sub/velodyne.json
@@ -0,0 +1,123 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "LiDAR Velodyne common parameters.",
+  "type": "object",
+  "definitions": {
+    "velodyne": {
+      "type": "object",
+      "properties": {
+        "calibration_file": {
+          "type": "string",
+          "default": "$(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml",
+          "pattern": "^.*\\.yaml$",
+          "description": "Sensor calibration file."
+        },
+        "setup_sensor": {
+          "type": "boolean",
+          "default": true,
+          "readOnly": true,
+          "description": "Enable sensor setup on hw-driver."
+        },
+        "advanced_diagnostics": {
+          "type": "boolean",
+          "default": false,
+          "readOnly": true,
+          "description": "Enable advanced diagnostics."
+        },
+        "launch_hw": {
+          "type": "boolean",
+          "readOnly": false,
+          "description": "Launch hardware."
+        },
+        "sensor_model": {
+          "type": "string",
+          "readOnly": true,
+          "enum": [
+            "VLP16",
+            "VLP32",
+            "VLS128"
+          ],
+          "description": "LiDAR model."
+        },
+        "return_mode": {
+          "type": "string",
+          "enum": [
+            "SingleStrongest",
+            "SingleLast",
+            "Dual",
+            "SingleFirst"
+          ],
+          "description": "LiDAR return mode."
+        },
+        "gnss_port": {
+          "type": "integer",
+          "default": 2369,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "LiDAR GNSS port."
+        },
+        "min_range": {
+          "type": "number",
+          "default": 0.3,
+          "minimum": 0.0,
+          "description": "Sensor minimum single point range."
+        },
+        "max_range": {
+          "type": "number",
+          "default": 300.0,
+          "minimum": 0.0,
+          "description": "Sensor maximum single point range."
+        },
+        "packet_mtu_size": {
+          "type": "integer",
+          "default": 1500,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Packet MTU size."
+        },
+        "rotation_speed": {
+          "type": "integer",
+          "default": 600,
+          "minimum": 300,
+          "maximum": 1200,
+          "multipleOf": 60,
+          "description": "Motor RPM, the sensor's internal spin rate."
+        },
+        "cloud_min_angle": {
+          "type": "integer",
+          "default": 0,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, start degrees."
+        },
+        "cloud_max_angle": {
+          "type": "integer",
+          "default": 360,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, end degrees."
+        }
+      },
+      "allOf": [
+        {
+          "$ref": "lidar.json#/definitions/lidar"
+        }
+      ],
+      "required": [
+        "calibration_file",
+        "setup_sensor",
+        "advanced_diagnostics",
+        "launch_hw",
+        "sensor_model",
+        "return_mode",
+        "gnss_port",
+        "min_range",
+        "max_range",
+        "packet_mtu_size",
+        "rotation_speed",
+        "cloud_min_angle",
+        "cloud_max_angle"
+      ]
+    }
+  }
+}
\ No newline at end of file

From dff369f1928e629de21cc2151b46b27c046c3585 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 14:22:15 +0900
Subject: [PATCH 065/122] chore(pre-commit): autoupdate hooks

---
 .pre-commit-config.yaml | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 13c31ce62..b4c2e9f2f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.6.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -18,51 +18,51 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.30.0
+    rev: v0.40.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.1
+    rev: v4.0.0-alpha.8
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.26.3
+    rev: v1.35.1
     hooks:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.4.0
+    rev: v0.8.0
     hooks:
       - id: prettier-package-xml
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.3
+    rev: v0.10.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.2-1
+    rev: v3.8.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.1.0
+    rev: 24.4.2
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
+    rev: 7.0.0
     hooks:
       - id: flake8
         additional_dependencies:
@@ -78,12 +78,12 @@ repos:
           ]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v13.0.0
+    rev: v18.1.5
     hooks:
       - id: clang-format
 
   - repo: https://github.com/cpplint/cpplint
-    rev: 1.5.5
+    rev: 1.6.1
     hooks:
       - id: cpplint
         args: [--quiet]

From e7a804987ecb3c540c587b86640e7b44e1ba4cb1 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 16:58:45 +0900
Subject: [PATCH 066/122] fix(hesai_decoder): print config instead of config
 address

---
 .../nebula_decoders_hesai/decoders/hesai_decoder.hpp            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index 7bdfd069e..b81b45d44 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -213,7 +213,7 @@ class HesaiDecoder : public HesaiScanDecoder
     logger_(rclcpp::get_logger("HesaiDecoder"))
   {
     logger_.set_level(rclcpp::Logger::Level::Debug);
-    RCLCPP_INFO_STREAM(logger_, sensor_configuration_);
+    RCLCPP_INFO_STREAM(logger_, *sensor_configuration_);
 
     decode_pc_.reset(new NebulaPointCloud);
     output_pc_.reset(new NebulaPointCloud);

From 737e752a5dac4091a45eb0fc2b38113a24cb5a8c Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 17:01:34 +0900
Subject: [PATCH 067/122] refactor(nebula_ros): combine Hesai wrapper nodes
 into one

This is step one of the single node refactoring of Nebula.
In this step, only the three Hesai wrapper nodes were combined into one, and no optimizations have been done that are made possible by this refactoring.

The next step is to do those optimizations (e.g. get rid of unnecessary pointcloud copying).
---
 nebula_common/CMakeLists.txt                  |    2 +
 nebula_ros/CMakeLists.txt                     |   31 +-
 .../common/nebula_ros_wrapper_base.hpp        |   68 +
 .../hesai/hesai_decoder_ros_wrapper.hpp       |  106 --
 .../hesai/hesai_hw_interface_ros_wrapper.hpp  |  100 --
 ..._ros_wrapper.hpp => hesai_ros_wrapper.hpp} |  194 ++-
 nebula_ros/launch/hesai_launch_all_hw.xml     |   68 +-
 .../launch/hesai_launch_component.launch.xml  |  115 --
 .../src/hesai/hesai_decoder_ros_wrapper.cpp   |  488 -------
 .../hesai/hesai_hw_interface_ros_wrapper.cpp  |  510 -------
 .../hesai/hesai_hw_monitor_ros_wrapper.cpp    |  620 ---------
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 1234 +++++++++++++++++
 12 files changed, 1475 insertions(+), 2061 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
 delete mode 100644 nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
 delete mode 100644 nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
 rename nebula_ros/include/nebula_ros/hesai/{hesai_hw_monitor_ros_wrapper.hpp => hesai_ros_wrapper.hpp} (53%)
 delete mode 100644 nebula_ros/launch/hesai_launch_component.launch.xml
 delete mode 100644 nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
 delete mode 100644 nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
 delete mode 100644 nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hesai_ros_wrapper.cpp

diff --git a/nebula_common/CMakeLists.txt b/nebula_common/CMakeLists.txt
index 4c146736c..154f8e453 100644
--- a/nebula_common/CMakeLists.txt
+++ b/nebula_common/CMakeLists.txt
@@ -40,6 +40,8 @@ ament_auto_add_library(nebula_common SHARED
         src/velodyne/velodyne_calibration_decoder.cpp
         )
 
+target_link_libraries(nebula_common yaml-cpp)
+
 ament_auto_package()
 
 # Set ROS_DISTRO macros
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index dd81e1ac0..18ce06aad 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -33,34 +33,13 @@ include_directories(
 )
 link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES})
 ## Hesai
-# Hw Interface
-ament_auto_add_library(hesai_hw_ros_wrapper SHARED
-        src/hesai/hesai_hw_interface_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_ros_wrapper
-        PLUGIN "HesaiHwInterfaceRosWrapper"
-        EXECUTABLE hesai_hw_interface_ros_wrapper_node
-        )
-
-# Monitor
-ament_auto_add_library(hesai_hw_monitor_ros_wrapper SHARED
-        src/hesai/hesai_hw_monitor_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_monitor_ros_wrapper
-        PLUGIN "HesaiHwMonitorRosWrapper"
-        EXECUTABLE hesai_hw_monitor_ros_wrapper_node
-        )
-
-# DriverDecoder
-ament_auto_add_library(hesai_driver_ros_wrapper SHARED
-        src/hesai/hesai_decoder_ros_wrapper.cpp
+ament_auto_add_library(hesai_ros_wrapper SHARED
+        src/hesai/hesai_ros_wrapper.cpp
         )
 
-rclcpp_components_register_node(hesai_driver_ros_wrapper
-        PLUGIN "HesaiDriverRosWrapper"
-        EXECUTABLE hesai_driver_ros_wrapper_node
+rclcpp_components_register_node(hesai_ros_wrapper
+        PLUGIN "HesaiRosWrapper"
+        EXECUTABLE hesai_ros_wrapper_node
         )
 
 ## Velodyne
diff --git a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
new file mode 100644
index 000000000..5aaeb634b
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <string>
+#include <vector>
+
+namespace nebula
+{
+namespace ros
+{
+/// @brief Base class for ros wrapper of each sensor driver
+class NebulaRosWrapperBase
+{
+public:
+  NebulaRosWrapperBase() = default;
+
+  NebulaRosWrapperBase(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase & operator=(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase(const NebulaRosWrapperBase & c) = delete;
+  NebulaRosWrapperBase & operator=(const NebulaRosWrapperBase & c) = delete;
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  virtual Status StreamStart() = 0;
+
+  /// @brief Stop point cloud streaming (not used)
+  /// @return Resulting status
+  virtual Status StreamStop() = 0;
+
+  /// @brief Shutdown (not used)
+  /// @return Resulting status
+  virtual Status Shutdown() = 0;
+
+private:
+  /// @brief Virtual function for initializing hardware interface ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwInterface(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing hardware monitor ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwMonitor(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) = 0;
+
+  /// @brief Point cloud publisher
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;
+};
+
+}  // namespace ros
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
deleted file mode 100644
index 52518fcd0..000000000
--- a/nebula_ros/include/nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#ifndef NEBULA_HesaiDriverRosWrapper_H
-#define NEBULA_HesaiDriverRosWrapper_H
-
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <chrono>
-
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Ros wrapper of hesai driver
-class HesaiDriverRosWrapper final : public rclcpp::Node, NebulaDriverRosWrapperBase
-{
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
-  Status wrapper_status_;
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
-
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
-
-  drivers::HesaiHwInterface hw_interface_;
-
-  /// @brief Initializing ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
-
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @param calibration_configuration Output of CalibrationConfiguration
-  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
-  /// @return Resulting status
-  Status GetParameters(
-    drivers::HesaiSensorConfiguration & sensor_configuration,
-    drivers::HesaiCalibrationConfiguration & calibration_configuration,
-    drivers::HesaiCorrection & correction_configuration);
-
-  /// @brief Convert seconds to chrono::nanoseconds
-  /// @param seconds
-  /// @return chrono::nanoseconds
-  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
-  {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(seconds));
-  }
-
-  /***
-   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
-   * @param pointcloud unique pointer containing the point cloud to publish
-   * @param publisher
-   */
-  void PublishCloud(
-    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
-
-public:
-  explicit HesaiDriverRosWrapper(const rclcpp::NodeOptions & options);
-
-  /// @brief Callback for PandarScan subscriber
-  /// @param scan_msg Received PandarScan
-  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
-
-  /// @brief Get current status of this driver
-  /// @return Current status
-  Status GetStatus();
-
-private:
-  /// @brief File path of Correction data (Only required only for AT)
-  std::string correction_file_path;
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_HesaiDriverRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
deleted file mode 100644
index 1802f87b2..000000000
--- a/nebula_ros/include/nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp
+++ /dev/null
@@ -1,100 +0,0 @@
-#ifndef NEBULA_HesaiHwInterfaceRosWrapper_H
-#define NEBULA_HesaiHwInterfaceRosWrapper_H
-
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-#include "boost_tcp_driver/tcp_driver.hpp"
-
-#include <ament_index_cpp/get_package_prefix.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
-
-#include <boost/asio.hpp>
-
-#include <mutex>
-#include <thread>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
-{
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
-    value = it->template get_value<T>();
-    return true;
-  }
-  return false;
-}
-
-/// @brief Hardware interface ros wrapper of hesai driver
-class HesaiHwInterfaceRosWrapper final : public rclcpp::Node, NebulaHwInterfaceWrapperBase
-{
-  drivers::HesaiHwInterface hw_interface_;
-  Status interface_status_;
-
-  drivers::HesaiSensorConfiguration sensor_configuration_;
-
-  /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
-
-  /// @brief Initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
-  /// @brief Callback for receiving PandarScan
-  /// @param scan_buffer Received PandarScan
-  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
-
-public:
-  explicit HesaiHwInterfaceRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiHwInterfaceRosWrapper() noexcept override;
-  /// @brief Start point cloud streaming (Call SensorInterfaceStart of HwInterface)
-  /// @return Resulting status
-  Status StreamStart() override;
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  Status StreamStop() override;
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  Status Shutdown() override;
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
-
-private:
-  uint16_t delay_hw_ms_;
-  bool retry_hw_;
-  std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-  /// @brief Updating rclcpp parameter
-  /// @return SetParametersResult
-  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
-};
-
-}  // namespace ros
-}  // namespace nebula
-
-#endif  // NEBULA_HesaiHwInterfaceRosWrapper_H
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
similarity index 53%
rename from nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
rename to nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index cf8739279..283f63c68 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -1,24 +1,29 @@
-#ifndef NEBULA_HesaiHwMonitorRosWrapper_H
-#define NEBULA_HesaiHwMonitorRosWrapper_H
+#pragma once
 
+#include "boost_tcp_driver/tcp_driver.hpp"
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
 #include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
-#include "boost_tcp_driver/tcp_driver.hpp"
+#include "nebula_ros/common/nebula_ros_wrapper_base.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include <boost/asio.hpp>
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
 
-#include <mutex>
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
 #include <boost/lexical_cast.hpp>
 
+#include <chrono>
+#include <mutex>
 #include <thread>
 #include <array>
 
@@ -26,6 +31,7 @@ namespace nebula
 {
 namespace ros
 {
+
 /// @brief Get parameter from rclcpp::Parameter
 /// @tparam T
 /// @param p Parameter from rclcpp parameter callback
@@ -45,39 +51,106 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
   return false;
 }
 
-/// @brief Hardware monitor ros wrapper of hesai driver
-class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapperBase
+/// @brief Ros wrapper of hesai driver
+class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 {
-  drivers::HesaiHwInterface hw_interface_;
-  Status interface_status_;
+public:
+  explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
+  ~HesaiRosWrapper();
 
-  drivers::HesaiSensorConfiguration sensor_configuration_;
+  /// @brief Callback for PandarScan subscriber
+  /// @param scan_msg Received PandarScan
+  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
 
-  /// @brief Initializing hardware monitor ros wrapper
+  /// @brief Get current status of this driver
+  /// @return Current status
+  Status GetStatus();
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  Status StreamStart() override;
+  /// @brief Stop point cloud streaming (not used)
+  /// @return Resulting status
+  Status StreamStop() override;
+  /// @brief Shutdown (not used)
+  /// @return Resulting status
+  Status Shutdown() override;
+
+private:
+  /// @brief Initializing ros wrapper
   /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
   /// @return Resulting status
-  Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
+  Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
+
+  /// @brief Initializing ros wrapper for AT
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
+  /// @param correction_configuration CorrectionConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeCloudDriver(
+    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
+    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
+    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
 
-public:
-  explicit HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiHwMonitorRosWrapper() noexcept override;
-  /// @brief Not used
-  /// @return Current status
-  Status MonitorStart() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status MonitorStop() override;
-  /// @brief Not used
-  /// @return Status::OK
-  Status Shutdown() override;
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
+  Status GetParameters(
+    drivers::HesaiSensorConfiguration & sensor_configuration);
+
+  /// @brief Get calibration data from the sensor
+  /// @param calibration_configuration Output of CalibrationConfiguration
+  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
+  /// @return Resulting status
+  Status GetCalibrationData(
+    drivers::HesaiCalibrationConfiguration & calibration_configuration,
+    drivers::HesaiCorrection & correction_configuration);
+
+  /// @brief Convert seconds to chrono::nanoseconds
+  /// @param seconds
+  /// @return chrono::nanoseconds
+  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
+  {
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+      std::chrono::duration<double>(seconds));
+  }
+
+  /***
+   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
+   * @param pointcloud unique pointer containing the point cloud to publish
+   * @param publisher
+   */
+  void PublishCloud(
+    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
+
+  /// @brief Initializing hardware interface ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeHwInterface(
+    const drivers::SensorConfigurationBase & sensor_configuration) override;
+  /// @brief Callback for receiving PandarScan
+  /// @param scan_buffer Received PandarScan
+  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
+
+  /// @brief rclcpp parameter callback
+  /// @param parameters Received parameters
+  /// @return SetParametersResult
+  rcl_interfaces::msg::SetParametersResult paramCallback(
+    const std::vector<rclcpp::Parameter> & parameters);
+  /// @brief Updating rclcpp parameter
+  /// @return SetParametersResult
+  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
+
+  /// @brief Initializing hardware monitor ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  Status InitializeHwMonitor(
+    const drivers::SensorConfigurationBase & sensor_configuration) override;
 
-private:
-  diagnostic_updater::Updater diagnostics_updater_;
   /// @brief Initializing diagnostics
   void InitializeHesaiDiagnostics();
   /// @brief Callback of the timer for getting the current lidar status
@@ -107,6 +180,49 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via tcp
   /// @param diagnostics DiagnosticStatusWrapper
   void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
+  /// @brief Get value from property_tree
+  /// @param pt property_tree
+  /// @param key Pey string
+  /// @return Value
+  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
+  /// @brief Making fixed precision string
+  /// @param val Target value
+  /// @param pre Precision
+  /// @return Created string
+  std::string GetFixedPrecisionString(double val, int pre = 2);
+
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  Status wrapper_status_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
+
+  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
+
+  Status interface_status_;
+
+  //todo: temporary class member during single node refactoring
+  bool launch_hw_;
+
+  //todo: temporary class member during single node refactoring
+  std::string calibration_file_path;
+  /// @brief File path of Correction data (Only required only for AT)
+  std::string correction_file_path;
+
+  /// @brief Received Hesai message publisher
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
+
+  drivers::HesaiHwInterface hw_interface_;
+
+  uint16_t delay_hw_ms_;
+  bool retry_hw_;
+  std::mutex mtx_config_;
+  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
+
+  diagnostic_updater::Updater diagnostics_updater_;
 
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
   rclcpp::TimerBase::SharedPtr diagnostics_update_monitor_timer_;
@@ -128,24 +244,6 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   std::mutex mtx_diag;
   std::mutex mtx_status;
   std::mutex mtx_lidar_monitor;
-  //  std::timed_mutex mtx_lidar_monitor;
-  std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-  /// @brief rclcpp parameter callback
-  /// @param parameters Received parameters
-  /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
-  /// @brief Get value from property_tree
-  /// @param pt property_tree
-  /// @param key Pey string
-  /// @return Value
-  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
-  /// @brief Making fixed precision string
-  /// @param val Target value
-  /// @param pre Precision
-  /// @return Created string
-  std::string GetFixedPrecisionString(double val, int pre = 2);
 
   std::string info_model;
   std::string info_serial;
@@ -158,9 +256,9 @@ class HesaiHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapp
   std::string message_sep;
 
   std::vector<std::string> temperature_names;
+
+  bool setup_sensor;
 };
 
 }  // namespace ros
 }  // namespace nebula
-
-#endif  // NEBULA_HesaiHwMonitorRosWrapper_H
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index f4a1cd41c..579852fb8 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -35,8 +35,8 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node pkg="nebula_ros" exec="hesai_driver_ros_wrapper_node"
-          name="hesai_cloud" output="screen" ros_args="--log-level $(var debug_level)">
+    <node pkg="nebula_ros" exec="hesai_ros_wrapper_node"
+           name="nebula_hesai" output="screen" ros_args="--log-level $(var debug_level)">
         <param name="sensor_model" value="$(var sensor_model)"/>
         <param name="return_mode" value="$(var return_mode)"/>
         <param name="frame_id" value="$(var frame_id)"/>
@@ -45,52 +45,24 @@
         <param name="calibration_file" value="$(var calibration_file)"/>
         <param name="correction_file" value="$(var correction_file)"/>
         <param name="launch_hw" value="$(var launch_hw)"/>
-    </node>
-    <group if="$(var launch_hw)">
-        <node pkg="nebula_ros" exec="hesai_hw_interface_ros_wrapper_node"
-              name="hesai_hw_driver" output="screen" >
-            <param name="sensor_model" value="$(var sensor_model)"/>
-            <param name="return_mode" value="$(var return_mode)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="scan_phase" value="$(var scan_phase)"/>
-            <param name="sensor_ip" value="$(var sensor_ip)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="host_ip" value="$(var host_ip)"/>
-            <param name="data_port" value="$(var data_port)"/>
-            <param name="gnss_port" value="$(var gnss_port)"/>
-            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-            <param name="rotation_speed" value="$(var rotation_speed)"/>
-            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-            <param name="setup_sensor" value="$(var setup_sensor)"/>
-            <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
-            <param name="retry_hw" value="$(var retry_hw)"/>
-            <param name="ptp_profile" value="$(var ptp_profile)"/>
-            <param name="ptp_domain" value="$(var ptp_domain)"/>
-            <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-            <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-        </node>
 
-        <node pkg="nebula_ros" exec="hesai_hw_monitor_ros_wrapper_node"
-              name="hesai_hw_monitor_$(var frame_id)" output="screen">
-            <param name="sensor_model" value="$(var sensor_model)"/>
-            <param name="return_mode" value="$(var return_mode)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="scan_phase" value="$(var scan_phase)"/>
-            <param name="sensor_ip" value="$(var sensor_ip)"/>
-            <param name="frame_id" value="$(var frame_id)"/>
-            <param name="host_ip" value="$(var host_ip)"/>
-            <param name="data_port" value="$(var data_port)"/>
-            <param name="gnss_port" value="$(var gnss_port)"/>
-            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-            <param name="rotation_speed" value="$(var rotation_speed)"/>
-            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-            <param name="diag_span" value="$(var diag_span)"/>
-            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-            <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
-        </node>
-    </group>
+        <param name="host_ip" value="$(var host_ip)"/>
+        <param name="data_port" value="$(var data_port)"/>
+        <param name="gnss_port" value="$(var gnss_port)"/>
+        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+        <param name="rotation_speed" value="$(var rotation_speed)"/>
+        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+        <param name="setup_sensor" value="$(var setup_sensor)"/>
+        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
+        <param name="retry_hw" value="$(var retry_hw)"/>
+        <param name="ptp_profile" value="$(var ptp_profile)"/>
+        <param name="ptp_domain" value="$(var ptp_domain)"/>
+        <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+        <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
 
+        <param name="diag_span" value="$(var diag_span)"/>
+        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
+    </node>
 </launch>
diff --git a/nebula_ros/launch/hesai_launch_component.launch.xml b/nebula_ros/launch/hesai_launch_component.launch.xml
deleted file mode 100644
index 75c7414da..000000000
--- a/nebula_ros/launch/hesai_launch_component.launch.xml
+++ /dev/null
@@ -1,115 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <arg name="launch_hw" default="true" />
-    <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/>
-    <arg name="return_mode" default="Dual" description="See readme for supported return modes"/>
-    <arg name="frame_id"  default="hesai"/>
-    <arg name="scan_phase" default="0.0" />
-
-    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
-    <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/>
-
-    <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
-    <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
-
-    <arg name="sensor_ip" default="192.168.1.201" description="Lidar Sensor IP"/>
-    <arg name="host_ip" default="255.255.255.255" description="Broadcast IP from Sensor"/>
-    <arg name="data_port" default="2368" description="LiDAR Data Port"/>
-    <arg name="gnss_port" default="2369" description="LiDAR GNSS Port"/>
-
-    <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
-    <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
-    <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
-    <arg name="diag_span" default="1000" description="milliseconds"/>
-
-    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
-    <arg name="ptp_profile" default="1588v2" description="1588v2|802.1as|automotive"/>
-    <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
-    <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
-    <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
-    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
-    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
-    <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
-    <arg name="debug_logging" default="False" description="Launches Monitor/HW Interfaces and calibration acquisition"/>
-
-    <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
-    <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
-
-
-    <group>
-        <node_container pkg="rclcpp_components" exec="component_container_mt" name="PandarContainer" namespace="/">
-            <composable_node pkg="nebula_ros"
-                             plugin="HesaiDriverRosWrapper"
-                             name="pandar_driver"
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="calibration_file" value="$(var calibration_file)"/>
-                <param name="correction_file" value="$(var correction_file)"/>
-                <param name="launch_hw" value="$(var launch_hw)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </node_container>
-    </group>
-
-    <group if="$(var launch_hw)">
-        <load_composable_node target="PandarContainer">
-            <composable_node pkg="nebula_ros"
-                             plugin="HesaiHwInterfaceRosWrapper"
-                             name="PandarHw"
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="host_ip" value="$(var host_ip)"/>
-                <param name="data_port" value="$(var data_port)"/>
-                <param name="gnss_port" value="$(var gnss_port)"/>
-                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-                <param name="rotation_speed" value="$(var rotation_speed)"/>
-                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-                <param name="setup_sensor" value="$(var setup_sensor)"/>
-                <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
-                <param name="retry_hw" value="$(var retry_hw)"/>
-                <param name="ptp_profile" value="$(var ptp_profile)"/>
-                <param name="ptp_domain" value="$(var ptp_domain)"/>
-                <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-                <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </load_composable_node>
-
-        <load_composable_node target="PandarContainer">
-            <composable_node pkg="nebula_ros" 
-                             plugin="HesaiHwMonitorRosWrapper"
-                             name="PandarMon" 
-                             namespace="/">
-                <param name="sensor_model" value="$(var sensor_model)"/>
-                <param name="return_mode" value="$(var return_mode)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="scan_phase" value="$(var scan_phase)"/>
-                <param name="sensor_ip" value="$(var sensor_ip)"/>
-                <param name="frame_id" value="$(var frame_id)"/>
-                <param name="host_ip" value="$(var host_ip)"/>
-                <param name="data_port" value="$(var data_port)"/>
-                <param name="gnss_port" value="$(var gnss_port)"/>
-                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-                <param name="rotation_speed" value="$(var rotation_speed)"/>
-                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-                <param name="diag_span" value="$(var diag_span)"/>
-                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-                <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
-                <extra_arg name="use_intra_process_comms" value="true" />
-            </composable_node>
-        </load_composable_node>
-    </group>
-
-</launch>
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
deleted file mode 100644
index 6f27d547e..000000000
--- a/nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp
+++ /dev/null
@@ -1,488 +0,0 @@
-#include "nebula_ros/hesai/hesai_decoder_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiDriverRosWrapper::HesaiDriverRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_driver_ros_wrapper", options), hw_interface_()
-{
-  drivers::HesaiCalibrationConfiguration calibration_configuration;
-  drivers::HesaiSensorConfiguration sensor_configuration;
-  drivers::HesaiCorrection correction_configuration;
-
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-
-  wrapper_status_ =
-    GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-  calibration_cfg_ptr_ =
-    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
-
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
-    wrapper_status_ = InitializeDriver(
-      std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-  } else {
-    wrapper_status_ = InitializeDriver(
-      std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                         qos_profile);
-  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
-    "pandar_packets", qos,
-    std::bind(&HesaiDriverRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
-}
-
-void HesaiDriverRosWrapper::ReceiveScanMsgCallback(
-  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
-{
-  auto t_start = std::chrono::high_resolution_clock::now();
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ConvertScanToPointcloud(scan_msg);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-
-  if (pointcloud == nullptr) {
-    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
-    return;
-  };
-  if (
-    nebula_points_pub_->get_subscription_count() > 0 ||
-    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-  }
-  if (
-    aw_points_base_pub_->get_subscription_count() > 0 ||
-    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_cloud_xyzi =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-  }
-  if (
-    aw_points_ex_pub_->get_subscription_count() > 0 ||
-    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-  }
-
-  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
-}
-
-void HesaiDriverRosWrapper::PublishCloud(
-  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
-{
-  if (pointcloud->header.stamp.sec < 0) {
-    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
-  }
-  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
-  publisher->publish(std::move(pointcloud));
-}
-
-Status HesaiDriverRosWrapper::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiDriverRosWrapper::InitializeDriver(
-  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiDriverRosWrapper::GetStatus() { return wrapper_status_; }
-
-Status HesaiDriverRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration,
-  drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_configuration.calibration_file =
-      this->get_parameter("calibration_file").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
-  }
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("correction_file", "", descriptor);
-    correction_file_path = this->get_parameter("correction_file").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  bool launch_hw;
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw = this->get_parameter("launch_hw").as_bool();
-  }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-  
-  bool run_local = !launch_hw;
-  if (sensor_configuration.sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
-    std::string calibration_file_path_from_sensor;
-    if (launch_hw && !calibration_configuration.calibration_file.empty()) {
-      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
-      calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
-    }
-    if(launch_hw) {
-      run_local = false;
-      RCLCPP_INFO_STREAM(
-        this->get_logger(), "Trying to acquire calibration data from sensor: '"
-        << sensor_configuration.sensor_ip << "'");
-      std::future<void> future = std::async(std::launch::async,
-                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-                                              if (hw_interface_.InitializeTcpDriver() == Status::OK) {
-                                                auto str = hw_interface_.GetLidarCalibrationString();
-                                                  auto rt = calibration_configuration.SaveFileFromString(
-                                                    calibration_file_path_from_sensor, str);
-                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  }
-                                                  rt = calibration_configuration.LoadFromString(str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(),
-                                                                        "LoadFromString success:" << str << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(),
-                                                                        "LoadFromString failed:" << str << "\n");
-                                                  }
-                                              } else {
-                                                run_local = true;
-                                              }
-                                            });
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(5000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired calibration data from sensor: '"
-          << sensor_configuration.sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "The calibration has been saved in '"
-          << calibration_file_path_from_sensor << "'");
-      }
-    }
-    if(run_local) {
-      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
-      bool run_org = false;
-      if (calibration_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status =
-          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
-
-        if (cal_status != Status::OK) {
-          run_org = true;
-        }else{
-          RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load calibration data from: '"
-                                  << calibration_file_path_from_sensor << "'");
-        }
-      }
-      if(run_org) {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
-        if (calibration_configuration.calibration_file.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status =
-            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
-
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(),
-              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
-            return cal_status;
-          }else{
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load calibration data from: '"
-                                    << calibration_configuration.calibration_file << "'");
-          }
-        }
-      }
-    }
-  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
-    std::string correction_file_path_from_sensor;
-    if (launch_hw && !correction_file_path.empty()) {
-      int ext_pos = correction_file_path.find_last_of('.');
-      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
-      correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
-    }
-    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local, &launch_hw]() {
-      if (launch_hw && hw_interface_.InitializeTcpDriver() == Status::OK) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Trying to acquire calibration data from sensor");
-        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-        rt = correction_configuration.LoadFromBinary(received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-          run_local = false;
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-      }else{
-        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-        run_local = true;
-      }
-    });
-    if (!run_local) {
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(8000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired correction data from sensor: '"
-          << sensor_configuration.sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "The correction has been saved in '"
-          << correction_file_path_from_sensor << "'");
-      }
-    }
-    if(run_local) {
-      bool run_org = false;
-      if (correction_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        auto cal_status =
-          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
-
-        if (cal_status != Status::OK) {
-          run_org = true;
-        }else{
-          RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load correction data from: '"
-                                  << correction_file_path_from_sensor << "'");
-        }
-      }
-      if(run_org) {
-        if (correction_file_path.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
-
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
-            return cal_status;
-          }else{
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '"
-                                    << correction_file_path << "'");
-          }
-        }
-      }
-    }
-  } // end AT128
-  // Do not use outside of this location
-  hw_interface_.~HesaiHwInterface();
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(HesaiDriverRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
deleted file mode 100644
index 1ac59b55b..000000000
--- a/nebula_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp
+++ /dev/null
@@ -1,510 +0,0 @@
-#include "nebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiHwInterfaceRosWrapper::HesaiHwInterfaceRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_hw_interface_ros_wrapper", options), hw_interface_()
-{
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-#if not defined(TEST_PCAP)
-  Status rt = hw_interface_.InitializeTcpDriver();
-  if(this->retry_hw_)
-  {
-    int cnt = 0;
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-    while(rt == Status::ERROR_1)
-    {
-      cnt++;
-      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      rt = hw_interface_.InitializeTcpDriver();
-    }
-  }
-
-  if(rt != Status::ERROR_1){
-    try{
-      std::vector<std::thread> thread_pool{};
-        thread_pool.emplace_back([this] {
-          auto result = hw_interface_.GetInventory();
-          RCLCPP_INFO_STREAM(get_logger(), result);
-          hw_interface_.SetTargetModel(result.model);
-        });
-        for (std::thread & th : thread_pool) {
-          th.join();
-        }
-
-    }
-    catch (...)
-    {
-      std::cout << "catch (...) in parent" << std::endl;
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  }
-  else
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr->sensor_model);
-  }
-#endif
-
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiHwInterfaceRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
-  pandar_scan_pub_ =
-    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-
-#if not defined(TEST_PCAP)
-  if (this->setup_sensor) {
-    set_param_res_ = this->add_on_set_parameters_callback(
-      std::bind(&HesaiHwInterfaceRosWrapper::paramCallback, this, std::placeholders::_1));
-  }
-#endif
-
-#ifdef WITH_DEBUG_STDOUT_HesaiHwInterfaceRosWrapper
-  if (false) {
-    std::vector<std::thread> thread_pool{};
-    thread_pool.emplace_back([this] { hw_interface_.SetStandbyMode(0); });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarCalib(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagStatus(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagPort(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagTime(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpDiagGrandmaster(ios);
-    });
-    //  thread_pool.emplace_back([&hw_interface_]{
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetInventory(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetConfig(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarStatus(ios);
-    });
-    thread_pool.emplace_back([this] { hw_interface_.SetStandbyMode(1); });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetPtpConfig(ios);
-    });
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      hw_interface_.GetLidarRange(ios);
-    });
-    for (std::thread & th : thread_pool) {
-      //    hw_interface_.IOServiceRun();
-      th.join();
-    }
-  }
-  if (false) {
-    std::vector<std::thread> thread_pool{};
-    thread_pool.emplace_back([this] {
-      auto ios = std::make_shared<boost::asio::io_service>();
-      std::cout << "GetLidarCalib" << std::endl;
-      hw_interface_.GetLidarCalib(ios);
-    });
-    for (std::thread & th : thread_pool) {
-      th.join();
-    }
-  }
-#endif
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-}
-
-HesaiHwInterfaceRosWrapper::~HesaiHwInterfaceRosWrapper() {
-  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-  hw_interface_.FinalizeTcpDriver();
-}
-
-Status HesaiHwInterfaceRosWrapper::StreamStart()
-{
-  if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.SensorInterfaceStart();
-  }
-  return interface_status_;
-}
-
-Status HesaiHwInterfaceRosWrapper::StreamStop() { return Status::OK; }
-Status HesaiHwInterfaceRosWrapper::Shutdown() { return Status::OK; }
-
-Status HesaiHwInterfaceRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiHwInterfaceRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      range.set__from_value(200).set__to_value(500).set__step(100);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
-      descriptor.additional_constraints = "300, 600, 1200";
-      range.set__from_value(300).set__to_value(1200).set__step(300);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("setup_sensor", true, descriptor);
-    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
-    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("retry_hw", true, descriptor);
-    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile =
-      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
-    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
-      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
-    }
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_switch_type", "");
-    sensor_configuration.ptp_switch_type =
-      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
-  }
-
-  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-void HesaiHwInterfaceRosWrapper::ReceiveScanDataCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
-{
-  // Publish
-  scan_buffer->header.frame_id = sensor_configuration_.frame_id;
-  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
-  pandar_scan_pub_->publish(std::move(scan_buffer));
-}
-
-rcl_interfaces::msg::SetParametersResult HesaiHwInterfaceRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
-
-  drivers::HesaiSensorConfiguration new_param{sensor_configuration_};
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  if (
-    get_param(p, "sensor_model", sensor_model_str) ||
-    get_param(p, "return_mode", return_mode_str) || get_param(p, "host_ip", new_param.host_ip) ||
-    get_param(p, "sensor_ip", new_param.sensor_ip) ||
-    get_param(p, "frame_id", new_param.frame_id) ||
-    get_param(p, "data_port", new_param.data_port) ||
-    get_param(p, "gnss_port", new_param.gnss_port) ||
-    get_param(p, "scan_phase", new_param.scan_phase) ||
-    get_param(p, "packet_mtu_size", new_param.packet_mtu_size) ||
-    get_param(p, "rotation_speed", new_param.rotation_speed) ||
-    get_param(p, "cloud_min_angle", new_param.cloud_min_angle) ||
-    get_param(p, "cloud_max_angle", new_param.cloud_max_angle) ||
-    get_param(p, "dual_return_distance_threshold", new_param.dual_return_distance_threshold)) {
-    if (0 < sensor_model_str.length())
-      new_param.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
-    if (0 < return_mode_str.length())
-      new_param.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
-
-    sensor_configuration_ = new_param;
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-    hw_interface_.CheckAndSetConfig();
-  }
-
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
-
-  return *result;
-}
-
-std::vector<rcl_interfaces::msg::SetParametersResult> HesaiHwInterfaceRosWrapper::updateParameters()
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
-  std::ostringstream os_sensor_model;
-  os_sensor_model << sensor_configuration_.sensor_model;
-  std::ostringstream os_return_mode;
-  os_return_mode << sensor_configuration_.return_mode;
-  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
-  auto results = set_parameters(
-    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-     rclcpp::Parameter("return_mode", os_return_mode.str()),
-     rclcpp::Parameter("host_ip", sensor_configuration_.host_ip),
-     rclcpp::Parameter("sensor_ip", sensor_configuration_.sensor_ip),
-     rclcpp::Parameter("frame_id", sensor_configuration_.frame_id),
-     rclcpp::Parameter("data_port", sensor_configuration_.data_port),
-     rclcpp::Parameter("gnss_port", sensor_configuration_.gnss_port),
-     rclcpp::Parameter("scan_phase", sensor_configuration_.scan_phase),
-     rclcpp::Parameter("packet_mtu_size", sensor_configuration_.packet_mtu_size),
-     rclcpp::Parameter("rotation_speed", sensor_configuration_.rotation_speed),
-     rclcpp::Parameter("cloud_min_angle", sensor_configuration_.cloud_min_angle),
-     rclcpp::Parameter("cloud_max_angle", sensor_configuration_.cloud_max_angle),
-     rclcpp::Parameter(
-       "dual_return_distance_threshold", sensor_configuration_.dual_return_distance_threshold)});
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
-  return results;
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(HesaiHwInterfaceRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
deleted file mode 100644
index e64bf443b..000000000
--- a/nebula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp
+++ /dev/null
@@ -1,620 +0,0 @@
-#include "nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp"
-
-namespace nebula
-{
-namespace ros
-{
-HesaiHwMonitorRosWrapper::HesaiHwMonitorRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_hw_monitor_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
-{
-  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (mtx_config_.try_lock()) {
-    interface_status_ = GetParameters(sensor_configuration_);
-    mtx_config_.unlock();
-  }
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
-
-  switch (sensor_cfg_ptr->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
-  while(hw_interface_.InitializeTcpDriver() == Status::ERROR_1)
-  {
-    RCLCPP_WARN(this->get_logger(), "Could not initialize TCP driver, retrying in 8s...");
-    std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-  }
-  std::vector<std::thread> thread_pool{};
-  thread_pool.emplace_back([this] {
-    auto result = hw_interface_.GetInventory();
-    current_inventory.reset(new HesaiInventory(result));
-    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
-    RCLCPP_INFO_STREAM(this->get_logger(), result);
-    info_model = result.get_str_model();
-    info_serial = std::string(std::begin(result.sn), std::end(result.sn));
-    hw_interface_.SetTargetModel(result.model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-    InitializeHesaiDiagnostics();
-  });
-  for (std::thread & th : thread_pool) {
-    th.join();
-  }
-
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiHwMonitorRosWrapper::paramCallback, this, std::placeholders::_1));
-}
-
-Status HesaiHwMonitorRosWrapper::MonitorStart() { return interface_status_; }
-
-Status HesaiHwMonitorRosWrapper::MonitorStop() { return Status::OK; }
-Status HesaiHwMonitorRosWrapper::Shutdown() { return Status::OK; }
-
-Status HesaiHwMonitorRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiHwMonitorRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      range.set__from_value(200).set__to_value(500).set__step(100);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
-      descriptor.additional_constraints = "300, 600, 1200";
-      range.set__from_value(300).set__to_value(1200).set__step(300);
-      descriptor.integer_range = {range};
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
-    }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
-    return Status::INVALID_SENSOR_MODEL;
-  }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
-    return Status::INVALID_ECHO_MODE;
-  }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {  // ||
-    return Status::SENSOR_CONFIG_ERROR;
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    this->diag_span_ = this->get_parameter("diag_span").as_int();
-  }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
-    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
-  }
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
-  return Status::OK;
-}
-
-void HesaiHwMonitorRosWrapper::InitializeHesaiDiagnostics()
-{
-  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
-  using std::chrono_literals::operator""s;
-  std::ostringstream os;
-  auto hardware_id = info_model + ": " + info_serial;
-  diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
-
-  diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorRosWrapper::HesaiCheckStatus);
-  diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add(
-    "hesai_temperature", this, &HesaiHwMonitorRosWrapper::HesaiCheckTemperature);
-  diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorRosWrapper::HesaiCheckRpm);
-
-  current_status.reset();
-  current_monitor.reset();
-  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-
-  auto fetch_diag_from_sensor = [this](){ 
-    OnHesaiStatusTimer(); 
-    if (hw_interface_.UseHttpGetLidarMonitor()) {
-      OnHesaiLidarMonitorTimerHttp();
-    } else {
-      OnHesaiLidarMonitorTimer();
-    }
-  };
-
-  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
-
-  if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add(
-      "hesai_voltage", this, &HesaiHwMonitorRosWrapper::HesaiCheckVoltageHttp);
-  } else {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorRosWrapper::HesaiCheckVoltage);
-  }
-
-  auto on_timer_update = [this] {
-    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
-    auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time).seconds();
-
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
-
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    dif = (now - *current_lidar_monitor_time).seconds();
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    diagnostics_updater_.force_update();
-  };
-  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
-    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
-
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
-}
-
-std::string HesaiHwMonitorRosWrapper::GetPtreeValue(
-  boost::property_tree::ptree * pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return not_supported_message;
-  }
-}
-std::string HesaiHwMonitorRosWrapper::GetFixedPrecisionString(double val, int pre)
-{
-  std::stringstream ss;
-  ss << std::fixed << std::setprecision(pre) << val;
-  return ss.str();
-}
-
-rcl_interfaces::msg::SetParametersResult HesaiHwMonitorRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(get_logger(), p);
-  RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
-
-  drivers::HesaiSensorConfiguration new_param{sensor_configuration_};
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
-  uint16_t new_diag_span = 0;
-  if (get_param(p, "diag_span", new_diag_span)) {
-    sensor_configuration_ = new_param;
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-      std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration_);
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-  }
-
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
-  return *result;
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiStatusTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
-  try {
-    auto ios = std::make_shared<boost::asio::io_service>();
-    auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_status);
-    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status.reset(new HesaiLidarStatus(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiHwMonitorRosWrapper::OnHesaiStatusTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
-  try {
-    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor);
-      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree =
-        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-    });
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
-      error.what());
-  }
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
-}
-
-void HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
-  try {
-    auto ios = std::make_shared<boost::asio::io_service>();
-    auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor);
-    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor.reset(new HesaiLidarMonitor(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiHwMonitorRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
-      error.what());
-  }
-
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckStatus(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-
-    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime.value()));
-    diagnostics.add("startup_times", std::to_string(current_status->startup_times.value()));
-    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time.value()));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckPtp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    auto gps_status = current_status->get_str_gps_pps_lock();
-    auto gprmc_status = current_status->get_str_gps_gprmc_status();
-    auto ptp_status = current_status->get_str_ptp_clock_status();
-    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
-    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
-    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
-    diagnostics.add("gps_pps_lock", gps_status);
-    diagnostics.add("gps_gprmc_status", gprmc_status);
-    diagnostics.add("ptp_clock_status", ptp_status);
-    if (gps_status != "UNKNOWN") {
-      msg.emplace_back("gps_pps_lock: " + gps_status);
-    }
-    if (gprmc_status != "UNKNOWN") {
-      msg.emplace_back("gprmc_status: " + gprmc_status);
-    }
-    if (ptp_status != "UNKNOWN") {
-      msg.emplace_back("ptp_status: " + ptp_status);
-    }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckTemperature(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    for (size_t i = 0; i < std::size(current_status->temperature); i++) {
-      diagnostics.add(
-        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i].value() * 0.01));
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckRpm(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed.value()));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckVoltageHttp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_lidar_monitor_tree) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    std::string key = "";
-
-    std::string mes;
-    key = "lidarInCur";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-    key = "lidarInVol";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiHwMonitorRosWrapper::HesaiCheckVoltage(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_monitor) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage.value() * 0.01) + " V");
-    diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor->input_current.value() * 0.01) + " mA");
-    diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor->input_power.value() * 0.01) + " W");
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-  HesaiHwMonitorRosWrapper::~HesaiHwMonitorRosWrapper() {
-    RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-    hw_interface_.FinalizeTcpDriver();
-  }
-
-  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiHwMonitorRosWrapper)
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
new file mode 100644
index 000000000..4fc2a12df
--- /dev/null
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -0,0 +1,1234 @@
+#include "nebula_ros/hesai/hesai_ros_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
+: rclcpp::Node("hesai_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
+{
+  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  drivers::HesaiSensorConfiguration sensor_configuration;
+  wrapper_status_ = GetParameters(sensor_configuration);
+  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+
+  // hwiface
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return;
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
+  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+#if not defined(TEST_PCAP)
+  Status rt = hw_interface_.InitializeTcpDriver();
+  if(this->retry_hw_)
+  {
+    int cnt = 0;
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+    while(rt == Status::ERROR_1)
+    {
+      cnt++;
+      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+      rt = hw_interface_.InitializeTcpDriver();
+    }
+  }
+
+  if(rt != Status::ERROR_1){
+    try{
+      std::vector<std::thread> thread_pool{};
+        thread_pool.emplace_back([this] {
+          auto result = hw_interface_.GetInventory();
+          RCLCPP_INFO_STREAM(get_logger(), result);
+          hw_interface_.SetTargetModel(result.model);
+        });
+        for (std::thread & th : thread_pool) {
+          th.join();
+        }
+
+    }
+    catch (...)
+    {
+      std::cout << "catch (...) in parent" << std::endl;
+      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
+    }
+    if (this->setup_sensor) {
+      hw_interface_.CheckAndSetConfig();
+      updateParameters();
+    }
+  }
+  else
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+  }
+#endif
+
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
+  pandar_scan_pub_ =
+    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+
+#if not defined(TEST_PCAP)
+  if (this->setup_sensor) {
+    set_param_res_ = this->add_on_set_parameters_callback(
+      std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+  }
+#endif
+
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+}
+  // decoder
+  {
+  drivers::HesaiCalibrationConfiguration calibration_configuration;
+  drivers::HesaiCorrection correction_configuration;
+
+  wrapper_status_ =
+    GetCalibrationData(calibration_configuration, correction_configuration);
+  if (Status::OK != wrapper_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    return;
+  }
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
+
+  calibration_cfg_ptr_ =
+    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+
+
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
+  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
+    wrapper_status_ = InitializeCloudDriver(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
+      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
+      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+  } else {
+    wrapper_status_ = InitializeCloudDriver(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
+      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+  }
+
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
+                         qos_profile);
+  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
+    "pandar_packets", qos,
+    std::bind(&HesaiRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
+  nebula_points_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
+  aw_points_base_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
+  aw_points_ex_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
+}
+
+//hwmon
+{
+cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return;
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
+
+  message_sep = ": ";
+  not_supported_message = "Not supported";
+  error_message = "Error";
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names.emplace_back("Bottom circuit board T1");
+      temperature_names.emplace_back("Bottom circuit board T2");
+      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names.emplace_back("Laser emitting board RT_L2");
+      temperature_names.emplace_back("Receiving board RT_R");
+      temperature_names.emplace_back("Receiving board RT2");
+      temperature_names.emplace_back("Top circuit RT3");
+      temperature_names.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names.emplace_back("Bottom circuit RT1");
+      temperature_names.emplace_back("Bottom circuit RT2");
+      temperature_names.emplace_back("Internal Temperature");
+      temperature_names.emplace_back("Laser emitting board RT1");
+      temperature_names.emplace_back("Laser emitting board RT2");
+      temperature_names.emplace_back("Receiving board RT1");
+      temperature_names.emplace_back("Top circuit RT1");
+      temperature_names.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  std::vector<std::thread> thread_pool{};
+  thread_pool.emplace_back([this] {
+    auto result = hw_interface_.GetInventory();
+    current_inventory.reset(new HesaiInventory(result));
+    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
+    RCLCPP_INFO_STREAM(this->get_logger(), result);
+    info_model = result.get_str_model();
+    info_serial = std::string(result.sn.begin(), result.sn.end());
+    hw_interface_.SetTargetModel(result.model);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
+    InitializeHesaiDiagnostics();
+  });
+  for (std::thread & th : thread_pool) {
+    th.join();
+  }
+
+  set_param_res_ = this->add_on_set_parameters_callback(
+    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+}
+}
+
+void HesaiRosWrapper::ReceiveScanMsgCallback(
+  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
+{
+  auto t_start = std::chrono::high_resolution_clock::now();
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
+    driver_ptr_->ConvertScanToPointcloud(scan_msg);
+  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+
+  if (pointcloud == nullptr) {
+    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
+    return;
+  };
+  if (
+    nebula_points_pub_->get_subscription_count() > 0 ||
+    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+  }
+  if (
+    aw_points_base_pub_->get_subscription_count() > 0 ||
+    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_cloud_xyzi =
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+  }
+  if (
+    aw_points_ex_pub_->get_subscription_count() > 0 ||
+    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_ex_cloud =
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+  }
+
+  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
+}
+
+void HesaiRosWrapper::PublishCloud(
+  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
+{
+  if (pointcloud->header.stamp.sec < 0) {
+    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
+  }
+  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
+  publisher->publish(std::move(pointcloud));
+}
+
+Status HesaiRosWrapper::InitializeCloudDriver(
+  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+{
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
+    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
+  return driver_ptr_->GetStatus();
+}
+
+Status HesaiRosWrapper::InitializeCloudDriver(
+  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
+  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
+  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
+{
+  // driver should be initialized here with proper decoder
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
+    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
+    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+  return driver_ptr_->GetStatus();
+}
+
+Status HesaiRosWrapper::GetStatus() { return wrapper_status_; }
+
+/// decoder
+Status HesaiRosWrapper::GetParameters(
+  drivers::HesaiSensorConfiguration & sensor_configuration)
+{
+  ///////////////////////////////////////////////
+  // Define and get ROS parameters
+  ///////////////////////////////////////////////
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("sensor_model", "");
+    sensor_configuration.sensor_model =
+      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("return_mode", "", descriptor);
+    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
+    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
+    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
+    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
+    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
+    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
+    rcl_interfaces::msg::FloatingPointRange range;
+    range.set__from_value(0).set__to_value(360).set__step(0.01);
+    descriptor.floating_point_range = {range};
+    this->declare_parameter<double>("scan_phase", 0., descriptor);
+    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("calibration_file", "", descriptor);
+    calibration_file_path =
+      this->get_parameter("calibration_file").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("min_range", 0.3, descriptor);
+    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<double>("max_range", 300., descriptor);
+    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
+    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::IntegerRange range;
+    RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
+    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
+      descriptor.additional_constraints = "200, 300, 400, 500";
+      // range.set__from_value(200).set__to_value(500).set__step(100);
+      // descriptor.integer_range = {range}; //todo
+      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+    } else {
+      descriptor.additional_constraints = "300, 600, 1200";
+      // range.set__from_value(300).set__to_value(1200).set__step(300);
+      // descriptor.integer_range = {range}; //todo
+      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+    }
+    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(360).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(360).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
+  }
+  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("correction_file", "", descriptor);
+    correction_file_path = this->get_parameter("correction_file").as_string();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
+    rcl_interfaces::msg::FloatingPointRange range;
+    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
+    descriptor.floating_point_range = {range};
+    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
+    sensor_configuration.dual_return_distance_threshold =
+      this->get_parameter("dual_return_distance_threshold").as_double();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("launch_hw", "", descriptor);
+    launch_hw_ = this->get_parameter("launch_hw").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("setup_sensor", true, descriptor);
+    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
+    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<bool>("retry_hw", true, descriptor);
+    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_profile", "");
+    sensor_configuration.ptp_profile =
+      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_transport_type", "");
+    sensor_configuration.ptp_transport_type =
+      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
+    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
+    }
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    this->declare_parameter<std::string>("ptp_switch_type", "");
+    sensor_configuration.ptp_switch_type =
+      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::IntegerRange range;
+    range.set__from_value(0).set__to_value(127).set__step(1);
+    descriptor.integer_range = {range};
+    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
+    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
+    this->diag_span_ = this->get_parameter("diag_span").as_int();
+  }
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
+    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
+  }
+
+  ///////////////////////////////////////////////
+  // Validate ROS parameters
+  ///////////////////////////////////////////////
+
+  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
+    return Status::INVALID_SENSOR_MODEL;
+  }
+  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
+    return Status::INVALID_ECHO_MODE;
+  }
+  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+
+  ///////////////////////////////////////////////
+  // Decoder-specific setup
+  ///////////////////////////////////////////////
+
+  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
+    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
+
+  ///////////////////////////////////////////////
+  // HW Interface specific setup
+  ///////////////////////////////////////////////
+
+  ///////////////////////////////////////////////
+  // HW Monitor specific setup
+  ///////////////////////////////////////////////
+
+  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::GetCalibrationData(
+  drivers::HesaiCalibrationConfiguration & calibration_configuration,
+  drivers::HesaiCorrection & correction_configuration) {
+    calibration_configuration.calibration_file = calibration_file_path; //todo
+
+    bool run_local = !launch_hw_;
+  if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
+    std::string calibration_file_path_from_sensor;
+    if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
+      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
+      calibration_file_path_from_sensor += "_from_sensor";
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
+    }
+    if(launch_hw_) {
+      run_local = false;
+      RCLCPP_INFO_STREAM(
+        this->get_logger(), "Trying to acquire calibration data from sensor: '"
+        << sensor_cfg_ptr_->sensor_ip << "'");
+      std::future<void> future = std::async(std::launch::async,
+                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
+                                                auto str = hw_interface_.GetLidarCalibrationString();
+                                                  auto rt = calibration_configuration.SaveFileFromString(
+                                                    calibration_file_path_from_sensor, str);
+                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
+                                                  if (rt == Status::OK) {
+                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
+                                                      << calibration_file_path_from_sensor << "\n");
+                                                  } else {
+                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
+                                                      << calibration_file_path_from_sensor << "\n");
+                                                  }
+                                                  rt = calibration_configuration.LoadFromString(str);
+                                                  if (rt == Status::OK) {
+                                                    RCLCPP_INFO_STREAM(get_logger(),
+                                                                        "LoadFromString success:" << str << "\n");
+                                                  } else {
+                                                    RCLCPP_ERROR_STREAM(get_logger(),
+                                                                        "LoadFromString failed:" << str << "\n");
+                                                  }
+                                            });
+      std::future_status status;
+      status = future.wait_for(std::chrono::milliseconds(5000));
+      if (status == std::future_status::timeout) {
+        std::cerr << "# std::future_status::timeout\n";
+        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
+        run_local = true;
+      } else if (status == std::future_status::ready && !run_local) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Acquired calibration data from sensor: '"
+          << sensor_cfg_ptr_->sensor_ip << "'");
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "The calibration has been saved in '"
+          << calibration_file_path_from_sensor << "'");
+      }
+    }
+    if(run_local) {
+      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
+      bool run_org = false;
+      if (calibration_file_path_from_sensor.empty()) {
+        run_org = true;
+      } else {
+        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
+        auto cal_status =
+          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+
+        if (cal_status != Status::OK) {
+          run_org = true;
+        }else{
+          RCLCPP_INFO_STREAM(
+            this->get_logger(), "Load calibration data from: '"
+                                  << calibration_file_path_from_sensor << "'");
+        }
+      }
+      if(run_org) {
+        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
+        if (calibration_configuration.calibration_file.empty()) {
+          RCLCPP_ERROR_STREAM(
+            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
+          return Status::INVALID_CALIBRATION_FILE;
+        } else {
+          auto cal_status =
+            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
+
+          if (cal_status != Status::OK) {
+            RCLCPP_ERROR_STREAM(
+              this->get_logger(),
+              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
+            return cal_status;
+          }else{
+            RCLCPP_INFO_STREAM(
+              this->get_logger(), "Load calibration data from: '"
+                                    << calibration_configuration.calibration_file << "'");
+          }
+        }
+      }
+    }
+  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
+    std::string correction_file_path_from_sensor;
+    if (launch_hw_ && !correction_file_path.empty()) {
+      int ext_pos = correction_file_path.find_last_of('.');
+      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
+      correction_file_path_from_sensor += "_from_sensor";
+      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
+    }
+    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
+      if (launch_hw_) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Trying to acquire calibration data from sensor");
+        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
+        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
+        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
+        if(rt == Status::OK)
+        {
+          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
+        }
+        else
+        {
+          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
+          run_local = true;
+        }
+        rt = correction_configuration.LoadFromBinary(received_bytes);
+        if(rt == Status::OK)
+        {
+          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
+          run_local = false;
+        }
+        else
+        {
+          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
+          run_local = true;
+        }
+      }else{
+        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
+        run_local = true;
+      }
+    });
+    if (!run_local) {
+      std::future_status status;
+      status = future.wait_for(std::chrono::milliseconds(8000));
+      if (status == std::future_status::timeout) {
+        std::cerr << "# std::future_status::timeout\n";
+        run_local = true;
+      } else if (status == std::future_status::ready && !run_local) {
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "Acquired correction data from sensor: '"
+          << sensor_cfg_ptr_->sensor_ip << "'");
+        RCLCPP_INFO_STREAM(
+          this->get_logger(), "The correction has been saved in '"
+          << correction_file_path_from_sensor << "'");
+      }
+    }
+    if(run_local) {
+      bool run_org = false;
+      if (correction_file_path_from_sensor.empty()) {
+        run_org = true;
+      } else {
+        auto cal_status =
+          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+
+        if (cal_status != Status::OK) {
+          run_org = true;
+        }else{
+          RCLCPP_INFO_STREAM(
+            this->get_logger(), "Load correction data from: '"
+                                  << correction_file_path_from_sensor << "'");
+        }
+      }
+      if(run_org) {
+        if (correction_file_path.empty()) {
+          RCLCPP_ERROR_STREAM(
+            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
+          return Status::INVALID_CALIBRATION_FILE;
+        } else {
+          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
+
+          if (cal_status != Status::OK) {
+            RCLCPP_ERROR_STREAM(
+              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
+            return cal_status;
+          }else{
+            RCLCPP_INFO_STREAM(
+              this->get_logger(), "Load correction data from: '"
+                                    << correction_file_path << "'");
+          }
+        }
+      }
+    }
+  } // end AT128
+
+  return Status::OK;
+  }
+
+HesaiRosWrapper::~HesaiRosWrapper() {
+  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
+  hw_interface_.FinalizeTcpDriver();
+}
+
+Status HesaiRosWrapper::StreamStart()
+{
+  if (Status::OK == interface_status_) {
+    interface_status_ = hw_interface_.CloudInterfaceStart();
+  }
+  return interface_status_;
+}
+
+Status HesaiRosWrapper::StreamStop() { return Status::OK; }
+Status HesaiRosWrapper::Shutdown() { return Status::OK; }
+
+Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
+  const drivers::SensorConfigurationBase & sensor_configuration)
+{
+  std::stringstream ss;
+  ss << sensor_configuration;
+  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
+  const drivers::SensorConfigurationBase & sensor_configuration)
+{
+  return Status::OK;
+}
+
+void HesaiRosWrapper::ReceiveScanDataCallback(
+  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
+{
+  // Publish
+  scan_buffer->header.frame_id = sensor_cfg_ptr_->frame_id;
+  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
+  pandar_scan_pub_->publish(std::move(scan_buffer));
+}
+
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
+  const std::vector<rclcpp::Parameter> & p)
+{
+  std::scoped_lock lock(mtx_config_);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
+  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(this->get_logger(), p);
+
+  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param = 
+    std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
+  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
+  std::string sensor_model_str;
+  std::string return_mode_str;
+  if (
+    get_param(p, "sensor_model", sensor_model_str) |
+    get_param(p, "return_mode", return_mode_str) | 
+    get_param(p, "host_ip", new_param->host_ip) |
+    get_param(p, "sensor_ip", new_param->sensor_ip) |
+    get_param(p, "frame_id", new_param->frame_id) |
+    get_param(p, "data_port", new_param->data_port) |
+    get_param(p, "gnss_port", new_param->gnss_port) |
+    get_param(p, "scan_phase", new_param->scan_phase) |
+    get_param(p, "packet_mtu_size", new_param->packet_mtu_size) |
+    get_param(p, "rotation_speed", new_param->rotation_speed) |
+    get_param(p, "cloud_min_angle", new_param->cloud_min_angle) |
+    get_param(p, "cloud_max_angle", new_param->cloud_max_angle) |
+    get_param(p, "dual_return_distance_threshold", new_param->dual_return_distance_threshold)) {
+    if (0 < sensor_model_str.length())
+      new_param->sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
+    if (0 < return_mode_str.length())
+      new_param->return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
+
+    sensor_cfg_ptr_.swap(new_param);
+    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
+    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
+    hw_interface_.SetSensorConfiguration(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    hw_interface_.CheckAndSetConfig();
+  }
+
+  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
+  result->successful = true;
+  result->reason = "success";
+
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
+
+  return *result;
+}
+
+std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
+{
+  std::scoped_lock lock(mtx_config_);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
+  std::ostringstream os_sensor_model;
+  os_sensor_model << sensor_cfg_ptr_->sensor_model;
+  std::ostringstream os_return_mode;
+  os_return_mode << sensor_cfg_ptr_->return_mode;
+  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
+  auto results = set_parameters(
+    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
+     rclcpp::Parameter("return_mode", os_return_mode.str()),
+     rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
+     rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
+     rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
+     rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
+     rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
+     rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
+     rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
+     rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
+     rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
+     rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
+     rclcpp::Parameter(
+       "dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold)});
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
+  return results;
+}
+
+void HesaiRosWrapper::InitializeHesaiDiagnostics()
+{
+  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
+  using std::chrono_literals::operator""s;
+  std::ostringstream os;
+  auto hardware_id = info_model + ": " + info_serial;
+  diagnostics_updater_.setHardwareID(hardware_id);
+  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
+
+  diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
+  diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
+  diagnostics_updater_.add(
+    "hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
+
+  current_status.reset();
+  current_monitor.reset();
+  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+
+  auto fetch_diag_from_sensor = [this](){ 
+    OnHesaiStatusTimer(); 
+    if (hw_interface_.UseHttpGetLidarMonitor()) {
+      OnHesaiLidarMonitorTimerHttp();
+    } else {
+      OnHesaiLidarMonitorTimer();
+    }
+  };
+
+  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
+    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
+    this->get_node_base_interface()->get_context());
+  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
+
+  if (hw_interface_.UseHttpGetLidarMonitor()) {
+    diagnostics_updater_.add(
+      "hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
+  } else {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
+  }
+
+  auto on_timer_update = [this] {
+    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
+    auto now = this->get_clock()->now();
+    auto dif = (now - *current_status_time).seconds();
+
+    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
+
+    if (diag_span_ * 2.0 < dif * 1000) {
+      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
+    } else {
+      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
+    }
+    dif = (now - *current_lidar_monitor_time).seconds();
+    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
+    if (diag_span_ * 2.0 < dif * 1000) {
+      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
+    } else {
+      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
+    }
+    diagnostics_updater_.force_update();
+  };
+  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
+    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
+    this->get_node_base_interface()->get_context());
+  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
+
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
+}
+
+std::string HesaiRosWrapper::GetPtreeValue(
+  boost::property_tree::ptree * pt, const std::string & key)
+{
+  boost::optional<std::string> value = pt->get_optional<std::string>(key);
+  if (value) {
+    return value.get();
+  } else {
+    return not_supported_message;
+  }
+}
+std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
+{
+  std::stringstream ss;
+  ss << std::fixed << std::setprecision(pre) << val;
+  return ss.str();
+}
+
+void HesaiRosWrapper::OnHesaiStatusTimer()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
+  try {
+    auto result = hw_interface_.GetLidarStatus();
+    std::scoped_lock lock(mtx_status);
+    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_status.reset(new HesaiLidarStatus(result));
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
+}
+
+void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
+  try {
+    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
+      std::scoped_lock lock(mtx_lidar_monitor);
+      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+      current_lidar_monitor_tree =
+        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
+    });
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
+}
+
+void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
+{
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
+  try {
+    auto ios = std::make_shared<boost::asio::io_service>();
+    auto result = hw_interface_.GetLidarMonitor();
+    std::scoped_lock lock(mtx_lidar_monitor);
+    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_monitor.reset(new HesaiLidarMonitor(result));
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
+      error.what());
+  }
+  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
+}
+
+void HesaiRosWrapper::HesaiCheckStatus(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+
+    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
+    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
+    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckPtp(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    auto gps_status = current_status->get_str_gps_pps_lock();
+    auto gprmc_status = current_status->get_str_gps_gprmc_status();
+    auto ptp_status = current_status->get_str_ptp_clock_status();
+    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
+    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
+    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
+    diagnostics.add("gps_pps_lock", gps_status);
+    diagnostics.add("gps_gprmc_status", gprmc_status);
+    diagnostics.add("ptp_clock_status", ptp_status);
+    if (gps_status != "UNKNOWN") {
+      msg.emplace_back("gps_pps_lock: " + gps_status);
+    }
+    if (gprmc_status != "UNKNOWN") {
+      msg.emplace_back("gprmc_status: " + gprmc_status);
+    }
+    if (ptp_status != "UNKNOWN") {
+      msg.emplace_back("ptp_status: " + ptp_status);
+    }
+    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
+      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckTemperature(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    for (size_t i = 0; i < current_status->temperature.size(); i++) {
+      diagnostics.add(
+        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckRpm(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_status);
+  if (current_status) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckVoltageHttp(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor);
+  if (current_lidar_monitor_tree) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    std::string key = "";
+
+    std::string mes;
+    key = "lidarInCur";
+    try {
+      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+    } catch (boost::bad_lexical_cast & ex) {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = error_message + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+    key = "lidarInVol";
+    try {
+      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+    } catch (boost::bad_lexical_cast & ex) {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = error_message + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiRosWrapper::HesaiCheckVoltage(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor);
+  if (current_monitor) {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add(
+      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
+    diagnostics.add(
+      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
+    diagnostics.add(
+      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  } else {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
+}  // namespace ros
+}  // namespace nebula

From 6baee804fa35f3325f69d0bdb710d597a20e7bac Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Thu, 21 Mar 2024 18:34:02 +0900
Subject: [PATCH 068/122] refactor: remove pandarScan pub/sub, decode one
 packet at a time

---
 .../decoders/hesai_decoder.hpp                | 14 +++---
 .../decoders/hesai_scan_decoder.hpp           |  4 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |  4 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    | 25 +++++-----
 .../hesai_hw_interface.hpp                    |  6 +--
 .../hesai_hw_interface.cpp                    | 48 ++-----------------
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  6 +--
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 29 +++++------
 8 files changed, 41 insertions(+), 95 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index b81b45d44..8f28856e8 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -52,17 +52,17 @@ class HesaiDecoder : public HesaiScanDecoder
     block_firing_offset_ns_;
 
   /// @brief Validates and parse PandarPacket. Currently only checks size, not checksums etc.
-  /// @param pandar_packet The incoming PandarPacket
+  /// @param packet The incoming PandarPacket
   /// @return Whether the packet was parsed successfully
-  bool parsePacket(const pandar_msgs::msg::PandarPacket & pandar_packet)
+  bool parsePacket(const std::vector<uint8_t> & packet)
   {
-    if (pandar_packet.size < sizeof(typename SensorT::packet_t)) {
+    if (packet.size() < sizeof(typename SensorT::packet_t)) {
       RCLCPP_ERROR_STREAM(
-        logger_, "Packet size mismatch:" << pandar_packet.size << " | Expected at least:"
+        logger_, "Packet size mismatch:" << packet.size() << " | Expected at least:"
                                          << sizeof(typename SensorT::packet_t));
       return false;
     }
-    if (std::memcpy(&packet_, pandar_packet.data.data(), sizeof(typename SensorT::packet_t))) {
+    if (std::memcpy(&packet_, packet.data(), sizeof(typename SensorT::packet_t))) {
       // FIXME(mojomex) do validation?
       // RCLCPP_DEBUG(logger_, "Packet parsed successfully");
       return true;
@@ -222,9 +222,9 @@ class HesaiDecoder : public HesaiScanDecoder
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
   }
 
-  int unpack(const pandar_msgs::msg::PandarPacket & pandar_packet) override
+  int unpack(const std::vector<uint8_t> & packet) override
   {
-    if (!parsePacket(pandar_packet)) {
+    if (!parsePacket(packet)) {
       return -1;
     }
 
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
index f0b4e3f8b..9d06c2702 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
@@ -26,9 +26,9 @@ class HesaiScanDecoder
   HesaiScanDecoder() = default;
 
   /// @brief Parses PandarPacket and add its points to the point cloud
-  /// @param pandar_packet The incoming PandarPacket
+  /// @param packet The incoming PandarPacket
   /// @return The last azimuth processed
-  virtual int unpack(const pandar_msgs::msg::PandarPacket & pandar_packet) = 0;
+  virtual int unpack(const std::vector<uint8_t> & packet) = 0;
 
   /// @brief Indicates whether one full scan is ready
   /// @return Whether a scan is ready
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index c83788965..a3f37cd32 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -54,8 +54,8 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ConvertScanToPointcloud(
-    const std::shared_ptr<pandar_msgs::msg::PandarScan> & pandar_scan);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
+    const std::vector<uint8_t> & packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 49be4adac..61b969ed7 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -72,8 +72,8 @@ HesaiDriver::HesaiDriver(
   }
 }
 
-std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ConvertScanToPointcloud(
-  const std::shared_ptr<pandar_msgs::msg::PandarScan> & pandar_scan)
+std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
+  const std::vector<uint8_t> & packet)
 {
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
   auto logger = rclcpp::get_logger("HesaiDriver");
@@ -83,20 +83,17 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ConvertScanToPoint
     return pointcloud;
   }
 
-  int cnt = 0, last_azimuth = 0;
-  for (auto & packet : pandar_scan->packets) {
-    last_azimuth = scan_decoder_->unpack(packet);
-    if (scan_decoder_->hasScanned()) {
-      pointcloud = scan_decoder_->getPointcloud();
-      cnt++;
-    }
+  scan_decoder_->unpack(packet);
+  if (scan_decoder_->hasScanned()) {
+    pointcloud = scan_decoder_->getPointcloud();
   }
 
-  if (cnt == 0) {
-    RCLCPP_ERROR_STREAM(
-      logger, "Scanned " << pandar_scan->packets.size() << " packets, but no "
-                         << "pointclouds were generated. Last azimuth: " << last_azimuth);
-  }
+  // todo
+  // if (cnt == 0) {
+  //   RCLCPP_ERROR_STREAM(
+  //     logger, "Scanned " << pandar_scan->packets.size() << " packets, but no "
+  //                        << "pointclouds were generated. Last azimuth: " << last_azimuth);
+  // }
 
   return pointcloud;
 }
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 1b21ddae2..34c5208ee 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -127,8 +127,8 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
   std::function<bool(size_t)>
     is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
-  std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan> buffer)>
-    scan_reception_callback_; /**This function pointer is called when the scan is complete*/
+  std::function<void(const std::vector<uint8_t> & buffer)>
+    cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   int prev_phase_{};
 
@@ -222,7 +222,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   /// @param scan_callback Callback function
   /// @return Resulting status
   Status RegisterScanCallback(
-    std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan>)> scan_callback);
+    std::function<void(const std::vector<uint8_t> &)> scan_callback);
   /// @brief Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION
   /// @return Resulting status
   std::string GetLidarCalibrationString();
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index fccb2a622..4fbb020b0 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -239,61 +239,19 @@ Status HesaiHwInterface::SensorInterfaceStart()
 }
 
 Status HesaiHwInterface::RegisterScanCallback(
-  std::function<void(std::unique_ptr<pandar_msgs::msg::PandarScan>)> scan_callback)
+  std::function<void(const std::vector<uint8_t> &)> scan_callback)
 {
-  scan_reception_callback_ = std::move(scan_callback);
+  cloud_packet_callback_ = std::move(scan_callback);
   return Status::OK;
 }
 
 void HesaiHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
 {
-  int scan_phase = static_cast<int>(sensor_configuration_->scan_phase * 100.0);
   if (!is_valid_packet_(buffer.size())) {
     PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
     return;
   }
-  const uint32_t buffer_size = buffer.size();
-  pandar_msgs::msg::PandarPacket pandar_packet;
-  std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, pandar_packet.data.begin());
-  pandar_packet.size = buffer_size;
-  auto now = std::chrono::system_clock::now();
-  auto now_secs = std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count();
-  auto now_nanosecs =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-  pandar_packet.stamp.sec = static_cast<int>(now_secs);
-  pandar_packet.stamp.nanosec = static_cast<std::uint32_t>(now_nanosecs % 1'000'000'000);
-  scan_cloud_ptr_->packets.emplace_back(pandar_packet);
-
-  int current_phase = 0;
-  bool comp_flg = false;
-
-  const auto & data = scan_cloud_ptr_->packets.back().data;
-  current_phase = (data[azimuth_index_] & 0xff) + ((data[azimuth_index_ + 1] & 0xff) << 8);
-  if (is_solid_state) {
-    current_phase = (static_cast<int>(current_phase) + 36000 - 0) % 12000;
-    if (current_phase >= prev_phase_ || scan_cloud_ptr_->packets.size() < 2) {
-      prev_phase_ = current_phase;
-    } else {
-      comp_flg = true;
-    }
-  } else {
-    current_phase = (static_cast<int>(current_phase) + 36000 - scan_phase) % 36000;
-
-    if (current_phase >= prev_phase_ || scan_cloud_ptr_->packets.size() < 2) {
-      prev_phase_ = current_phase;
-    } else {
-      comp_flg = true;
-    }
-  }
-
-  if (comp_flg) {  // Scan complete
-    if (scan_reception_callback_) {
-      scan_cloud_ptr_->header.stamp = scan_cloud_ptr_->packets.front().stamp;
-      // Callback
-      scan_reception_callback_(std::move(scan_cloud_ptr_));
-      scan_cloud_ptr_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-    }
-  }
+  cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
 {
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 283f63c68..e3b1cc8e8 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -58,10 +58,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
   ~HesaiRosWrapper();
 
-  /// @brief Callback for PandarScan subscriber
-  /// @param scan_msg Received PandarScan
-  void ReceiveScanMsgCallback(const pandar_msgs::msg::PandarScan::SharedPtr scan_msg);
-
   /// @brief Get current status of this driver
   /// @return Current status
   Status GetStatus();
@@ -134,7 +130,7 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving PandarScan
   /// @param scan_buffer Received PandarScan
-  void ReceiveScanDataCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer);
+  void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
 
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 4fc2a12df..b809bccf8 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -69,7 +69,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 #endif
 
   hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1));
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
   pandar_scan_pub_ =
     this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
 
@@ -117,9 +117,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
   rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                          qos_profile);
-  pandar_scan_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
-    "pandar_packets", qos,
-    std::bind(&HesaiRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1));
+
   nebula_points_pub_ =
     this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
   aw_points_base_pub_ =
@@ -198,16 +196,22 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 }
 }
 
-void HesaiRosWrapper::ReceiveScanMsgCallback(
-  const pandar_msgs::msg::PandarScan::SharedPtr scan_msg)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(
+  const std::vector<uint8_t> & packet)
 {
+  // Driver is not initialized yet
+  if (!driver_ptr_) {
+    return;
+  }
+
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ConvertScanToPointcloud(scan_msg);
+    driver_ptr_->ParseCloudPacket(packet);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
   if (pointcloud == nullptr) {
-    RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
+    // todo
+    // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
     return;
   };
   if (
@@ -845,15 +849,6 @@ Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is neede
   return Status::OK;
 }
 
-void HesaiRosWrapper::ReceiveScanDataCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_buffer)
-{
-  // Publish
-  scan_buffer->header.frame_id = sensor_cfg_ptr_->frame_id;
-  scan_buffer->header.stamp = scan_buffer->packets.front().stamp;
-  pandar_scan_pub_->publish(std::move(scan_buffer));
-}
-
 rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {

From cbd15d32d4921f3aceadaf08fcc0d51d121d90d3 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Tue, 26 Mar 2024 16:31:25 +0900
Subject: [PATCH 069/122] reword later

---
 nebula_ros/CMakeLists.txt                     |   1 +
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  28 +-
 nebula_ros/launch/hesai_launch_all_hw.xml     |   4 -
 nebula_ros/package.xml                        |   1 +
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 557 +++++++++---------
 scripts/plot_times.py                         |   7 +-
 6 files changed, 309 insertions(+), 289 deletions(-)

diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 18ce06aad..1bd697624 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(nebula_decoders REQUIRED)
 find_package(nebula_hw_interfaces REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
+find_package(nebula_msgs REQUIRED)
 
 include_directories(
         include
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index e3b1cc8e8..e91d7fcaf 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -15,8 +15,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
+#include "nebula_msgs/msg/nebula_packet.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
@@ -73,23 +72,21 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   Status Shutdown() override;
 
 private:
-  /// @brief Initializing ros wrapper
+  /// @brief Initialize pointcloud decoder
   /// @param sensor_configuration SensorConfiguration for this driver
   /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
+  /// @param correction_configuration CorrectionConfiguration for this driver (only for AT128, ignored otherwise)
   /// @return Resulting status
   Status InitializeCloudDriver(
     const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
     const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration);
+    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
+
+  Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) {
+      return InitializeCloudDriver(sensor_configuration, calibration_configuration, nullptr);
+    }
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
@@ -189,7 +186,10 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_sub_;
+
+  rclcpp::Publisher<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_pub_;
+  rclcpp::Subscription<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_sub_;
+
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index 579852fb8..a74eb9813 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -27,8 +27,6 @@
     <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
     <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
     <arg name="ptp_switch_type" default="TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
-    <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
-    <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
     <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
     <arg name="debug_logging" default="False" description="Launches Monitor/HW Interfaces and calibration acquisition"/>
 
@@ -55,7 +53,6 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
         <param name="retry_hw" value="$(var retry_hw)"/>
         <param name="ptp_profile" value="$(var ptp_profile)"/>
         <param name="ptp_domain" value="$(var ptp_domain)"/>
@@ -63,6 +60,5 @@
         <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
 
         <param name="diag_span" value="$(var diag_span)"/>
-        <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
     </node>
 </launch>
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 87bc000c9..54df70ea9 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -31,6 +31,7 @@
   <depend>velodyne_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>yaml-cpp</depend>
+  <depend>nebula_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index b809bccf8..ce81d6b3e 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -5,7 +5,9 @@ namespace nebula
 namespace ros
 {
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_ros_wrapper", options), hw_interface_(), diagnostics_updater_(this)
+: rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
+  hw_interface_(),
+  diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
@@ -14,33 +16,29 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
   sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
 
   // hwiface
-{
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
-  }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_hw_ms_));
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-#if not defined(TEST_PCAP)
-  Status rt = hw_interface_.InitializeTcpDriver();
-  if(this->retry_hw_)
   {
-    int cnt = 0;
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-    while(rt == Status::ERROR_1)
-    {
-      cnt++;
-      std::this_thread::sleep_for(std::chrono::milliseconds(8000));// >5000
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      rt = hw_interface_.InitializeTcpDriver();
+    if (Status::OK != interface_status_) {
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+      return;
+    }
+    hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+    hw_interface_.SetSensorConfiguration(
+      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    Status rt = hw_interface_.InitializeTcpDriver();
+    if (this->retry_hw_) {
+      int cnt = 0;
+      RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+      while (rt == Status::ERROR_1) {
+        cnt++;
+        std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+        RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
+        rt = hw_interface_.InitializeTcpDriver();
+      }
     }
-  }
 
-  if(rt != Status::ERROR_1){
-    try{
-      std::vector<std::thread> thread_pool{};
+    if (rt != Status::ERROR_1) {
+      try {
+        std::vector<std::thread> thread_pool{};
         thread_pool.emplace_back([this] {
           auto result = hw_interface_.GetInventory();
           RCLCPP_INFO_STREAM(get_logger(), result);
@@ -50,74 +48,60 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
           th.join();
         }
 
+      } catch (...) {
+        std::cout << "catch (...) in parent" << std::endl;
+        RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
+      }
+      if (this->setup_sensor) {
+        hw_interface_.CheckAndSetConfig();
+        updateParameters();
+      }
+    } else {
+      RCLCPP_ERROR_STREAM(
+        get_logger(),
+        "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+      hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
     }
-    catch (...)
-    {
-      std::cout << "catch (...) in parent" << std::endl;
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  }
-  else
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
-  }
-#endif
-
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  pandar_scan_pub_ =
-    this->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-
-#if not defined(TEST_PCAP)
-  if (this->setup_sensor) {
-    set_param_res_ = this->add_on_set_parameters_callback(
-      std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
   }
-#endif
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-}
   // decoder
   {
-  drivers::HesaiCalibrationConfiguration calibration_configuration;
-  drivers::HesaiCorrection correction_configuration;
-
-  wrapper_status_ =
-    GetCalibrationData(calibration_configuration, correction_configuration);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-  calibration_cfg_ptr_ =
-    std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+    drivers::HesaiCalibrationConfiguration calibration_configuration;
+    drivers::HesaiCorrection correction_configuration;
 
+    wrapper_status_ = GetCalibrationData(calibration_configuration, correction_configuration);
+    if (Status::OK != wrapper_status_) {
+      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+      return;
+    }
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    calibration_cfg_ptr_ =
+      std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
+    // Will be left empty for AT128, and ignored by all decoders except AT128
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
+
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
     wrapper_status_ = InitializeCloudDriver(
       std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
       std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
       std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-  } else {
-    wrapper_status_ = InitializeCloudDriver(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
-  }
+
+    RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+    StreamStart();
+    hw_interface_.RegisterScanCallback(
+      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
   rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                          qos_profile);
 
+  packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
+    "hesai_packets", rclcpp::SensorDataQoS());
+
+  packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+    "hesai_packets", rclcpp::SensorDataQoS(), [](nebula_msgs::msg::NebulaPacket::UniquePtr){});
+
   nebula_points_pub_ =
     this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
   aw_points_base_pub_ =
@@ -194,11 +178,18 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
-}
 
-void HesaiRosWrapper::ReceiveCloudPacketCallback(
-  const std::vector<uint8_t> & packet)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
+  auto t_received = std::chrono::high_resolution_clock::now().time_since_epoch().count();
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>(packet.size());
+  msg_ptr->stamp.sec = t_received / 1'000'000'000;
+  msg_ptr->stamp.nanosec = t_received % 1'000'000'000;
+  // TODO(mojomex) this copy could be avoided if transport_drivers would give us a non-const vector
+  std::copy(packet.begin(), packet.end(), msg_ptr->data.begin());
+  packet_pub_->publish(std::move(msg_ptr));
+
+  //todo
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
@@ -209,6 +200,12 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
     driver_ptr_->ParseCloudPacket(packet);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
+  auto t_end = std::chrono::high_resolution_clock::now();
+  auto runtime = t_end - t_start;
+  t_start = t_end;
+  RCLCPP_DEBUG(
+    get_logger(), "PROFILING {'d_decode_packet': %lu}", runtime.count());
+
   if (pointcloud == nullptr) {
     // todo
     // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
@@ -237,8 +234,8 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    const auto autoware_ex_cloud =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
+      pointcloud, std::get<1>(pointcloud_ts));
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
@@ -246,8 +243,9 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
   }
 
-  auto runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(get_logger(), "PROFILING {'d_total': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
+  runtime = std::chrono::high_resolution_clock::now() - t_start;
+  RCLCPP_DEBUG(
+    get_logger(), "PROFILING {'d_convert_pc': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void HesaiRosWrapper::PublishCloud(
@@ -261,22 +259,11 @@ void HesaiRosWrapper::PublishCloud(
   publisher->publish(std::move(pointcloud));
 }
 
-Status HesaiRosWrapper::InitializeCloudDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
 Status HesaiRosWrapper::InitializeCloudDriver(
   const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
   const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
   const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
 {
-  // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
     std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
@@ -284,11 +271,12 @@ Status HesaiRosWrapper::InitializeCloudDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosWrapper::GetStatus() { return wrapper_status_; }
+Status HesaiRosWrapper::GetStatus()
+{
+  return wrapper_status_;
+}
 
-/// decoder
-Status HesaiRosWrapper::GetParameters(
-  drivers::HesaiSensorConfiguration & sensor_configuration)
+Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
 {
   ///////////////////////////////////////////////
   // Define and get ROS parameters
@@ -377,8 +365,7 @@ Status HesaiRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path =
-      this->get_parameter("calibration_file").as_string();
+    calibration_file_path = this->get_parameter("calibration_file").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -492,16 +479,6 @@ Status HesaiRosWrapper::GetParameters(
     this->declare_parameter<bool>("setup_sensor", true, descriptor);
     this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
   }
-
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_hw_ms", 0, descriptor);
-    this->delay_hw_ms_ = this->get_parameter("delay_hw_ms").as_int();
-  }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
@@ -528,9 +505,9 @@ Status HesaiRosWrapper::GetParameters(
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
     this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-      nebula::drivers::PtpTransportTypeFromString(this->get_parameter("ptp_transport_type").as_string());
-    if(static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+    sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportTypeFromString(
+      this->get_parameter("ptp_transport_type").as_string());
+    if (static_cast<int>(sensor_configuration.ptp_profile) > 0) {
       sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
     }
   }
@@ -565,32 +542,27 @@ Status HesaiRosWrapper::GetParameters(
     this->diag_span_ = this->get_parameter("diag_span").as_int();
   }
 
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("delay_monitor_ms", 0, descriptor);
-    this->delay_monitor_ms_ = this->get_parameter("delay_monitor_ms").as_int();
-  }
-
   ///////////////////////////////////////////////
   // Validate ROS parameters
   ///////////////////////////////////////////////
 
-  if(sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if(sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when using the '1588v2' PTP Profile");
+  if (
+    sensor_configuration.ptp_transport_type ==
+    nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(),
+      "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
+      "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if(sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
   if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
@@ -603,69 +575,61 @@ Status HesaiRosWrapper::GetParameters(
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  ///////////////////////////////////////////////
-  // Decoder-specific setup
-  ///////////////////////////////////////////////
-
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
     std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
 
   hw_interface_.SetSensorConfiguration(
     std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
 
-  ///////////////////////////////////////////////
-  // HW Interface specific setup
-  ///////////////////////////////////////////////
-
-  ///////////////////////////////////////////////
-  // HW Monitor specific setup
-  ///////////////////////////////////////////////
-
   RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
   return Status::OK;
 }
 
 Status HesaiRosWrapper::GetCalibrationData(
   drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration) {
-    calibration_configuration.calibration_file = calibration_file_path; //todo
+  drivers::HesaiCorrection & correction_configuration)
+{
+  calibration_configuration.calibration_file = calibration_file_path;  // todo
 
-    bool run_local = !launch_hw_;
+  bool run_local = !launch_hw_;
   if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
     std::string calibration_file_path_from_sensor;
     if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
       int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(0, ext_pos);
+      calibration_file_path_from_sensor +=
+        calibration_configuration.calibration_file.substr(0, ext_pos);
       calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
+      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(
+        ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
     }
-    if(launch_hw_) {
+    if (launch_hw_) {
       run_local = false;
       RCLCPP_INFO_STREAM(
-        this->get_logger(), "Trying to acquire calibration data from sensor: '"
-        << sensor_cfg_ptr_->sensor_ip << "'");
-      std::future<void> future = std::async(std::launch::async,
-                                            [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-                                                auto str = hw_interface_.GetLidarCalibrationString();
-                                                  auto rt = calibration_configuration.SaveFileFromString(
-                                                    calibration_file_path_from_sensor, str);
-                                                  RCLCPP_ERROR_STREAM(get_logger(), str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromString success:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromString failed:"
-                                                      << calibration_file_path_from_sensor << "\n");
-                                                  }
-                                                  rt = calibration_configuration.LoadFromString(str);
-                                                  if (rt == Status::OK) {
-                                                    RCLCPP_INFO_STREAM(get_logger(),
-                                                                        "LoadFromString success:" << str << "\n");
-                                                  } else {
-                                                    RCLCPP_ERROR_STREAM(get_logger(),
-                                                                        "LoadFromString failed:" << str << "\n");
-                                                  }
-                                            });
+        this->get_logger(),
+        "Trying to acquire calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
+      std::future<void> future = std::async(
+        std::launch::async,
+        [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
+          auto str = hw_interface_.GetLidarCalibrationString();
+          auto rt =
+            calibration_configuration.SaveFileFromString(calibration_file_path_from_sensor, str);
+          RCLCPP_ERROR_STREAM(get_logger(), str);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(),
+              "SaveFileFromString success:" << calibration_file_path_from_sensor << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(),
+              "SaveFileFromString failed:" << calibration_file_path_from_sensor << "\n");
+          }
+          rt = calibration_configuration.LoadFromString(str);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(get_logger(), "LoadFromString success:" << str << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(get_logger(), "LoadFromString failed:" << str << "\n");
+          }
+        });
       std::future_status status;
       status = future.wait_for(std::chrono::milliseconds(5000));
       if (status == std::future_status::timeout) {
@@ -674,36 +638,38 @@ Status HesaiRosWrapper::GetCalibrationData(
         run_local = true;
       } else if (status == std::future_status::ready && !run_local) {
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired calibration data from sensor: '"
-          << sensor_cfg_ptr_->sensor_ip << "'");
+          this->get_logger(),
+          "Acquired calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "The calibration has been saved in '"
-          << calibration_file_path_from_sensor << "'");
+          this->get_logger(),
+          "The calibration has been saved in '" << calibration_file_path_from_sensor << "'");
       }
     }
-    if(run_local) {
+    if (run_local) {
       RCLCPP_WARN_STREAM(get_logger(), "Running locally");
       bool run_org = false;
       if (calibration_file_path_from_sensor.empty()) {
         run_org = true;
       } else {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status =
-          calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+        RCLCPP_INFO_STREAM(
+          get_logger(), "Trying to load file: " << calibration_file_path_from_sensor);
+        auto cal_status = calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
 
         if (cal_status != Status::OK) {
           run_org = true;
-        }else{
+        } else {
           RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load calibration data from: '"
-                                  << calibration_file_path_from_sensor << "'");
+            this->get_logger(),
+            "Load calibration data from: '" << calibration_file_path_from_sensor << "'");
         }
       }
-      if(run_org) {
-        RCLCPP_INFO_STREAM(get_logger(),"Trying to load file: " << calibration_configuration.calibration_file);
+      if (run_org) {
+        RCLCPP_INFO_STREAM(
+          get_logger(), "Trying to load file: " << calibration_configuration.calibration_file);
         if (calibration_configuration.calibration_file.empty()) {
           RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
+            this->get_logger(),
+            "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
           return Status::INVALID_CALIBRATION_FILE;
         } else {
           auto cal_status =
@@ -714,54 +680,61 @@ Status HesaiRosWrapper::GetCalibrationData(
               this->get_logger(),
               "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
             return cal_status;
-          }else{
+          } else {
             RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load calibration data from: '"
-                                    << calibration_configuration.calibration_file << "'");
+              this->get_logger(),
+              "Load calibration data from: '" << calibration_configuration.calibration_file << "'");
           }
         }
       }
     }
-  } else { // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
+  } else {  // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
     std::string correction_file_path_from_sensor;
     if (launch_hw_ && !correction_file_path.empty()) {
       int ext_pos = correction_file_path.find_last_of('.');
       correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
       correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor += correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
+      correction_file_path_from_sensor +=
+        correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
     }
-    std::future<void> future = std::async(std::launch::async, [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
-      if (launch_hw_) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(), "Trying to acquire calibration data from sensor");
-        auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-        RCLCPP_INFO_STREAM(get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-        auto rt = correction_configuration.SaveFileFromBinary(correction_file_path_from_sensor, received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "SaveFileFromBinary failed:" << correction_file_path_from_sensor << ". Falling back to offline calibration file.");
-          run_local = true;
-        }
-        rt = correction_configuration.LoadFromBinary(received_bytes);
-        if(rt == Status::OK)
-        {
-          RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-          run_local = false;
-        }
-        else
-        {
-          RCLCPP_ERROR_STREAM(get_logger(), "LoadFromBinary failed" << ". Falling back to offline calibration file.");
+    std::future<void> future = std::async(
+      std::launch::async,
+      [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
+        if (launch_hw_) {
+          RCLCPP_INFO_STREAM(this->get_logger(), "Trying to acquire calibration data from sensor");
+          auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
+          RCLCPP_INFO_STREAM(
+            get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
+          auto rt = correction_configuration.SaveFileFromBinary(
+            correction_file_path_from_sensor, received_bytes);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(),
+              "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(),
+              "SaveFileFromBinary failed:" << correction_file_path_from_sensor
+                                           << ". Falling back to offline calibration file.");
+            run_local = true;
+          }
+          rt = correction_configuration.LoadFromBinary(received_bytes);
+          if (rt == Status::OK) {
+            RCLCPP_INFO_STREAM(
+              get_logger(), "LoadFromBinary success"
+                              << "\n");
+            run_local = false;
+          } else {
+            RCLCPP_ERROR_STREAM(
+              get_logger(), "LoadFromBinary failed"
+                              << ". Falling back to offline calibration file.");
+            run_local = true;
+          }
+        } else {
+          RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
           run_local = true;
         }
-      }else{
-        RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-        run_local = true;
-      }
-    });
+      });
     if (!run_local) {
       std::future_status status;
       status = future.wait_for(std::chrono::milliseconds(8000));
@@ -770,30 +743,29 @@ Status HesaiRosWrapper::GetCalibrationData(
         run_local = true;
       } else if (status == std::future_status::ready && !run_local) {
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "Acquired correction data from sensor: '"
-          << sensor_cfg_ptr_->sensor_ip << "'");
+          this->get_logger(),
+          "Acquired correction data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
         RCLCPP_INFO_STREAM(
-          this->get_logger(), "The correction has been saved in '"
-          << correction_file_path_from_sensor << "'");
+          this->get_logger(),
+          "The correction has been saved in '" << correction_file_path_from_sensor << "'");
       }
     }
-    if(run_local) {
+    if (run_local) {
       bool run_org = false;
       if (correction_file_path_from_sensor.empty()) {
         run_org = true;
       } else {
-        auto cal_status =
-          correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+        auto cal_status = correction_configuration.LoadFromFile(correction_file_path_from_sensor);
 
         if (cal_status != Status::OK) {
           run_org = true;
-        }else{
+        } else {
           RCLCPP_INFO_STREAM(
-            this->get_logger(), "Load correction data from: '"
-                                  << correction_file_path_from_sensor << "'");
+            this->get_logger(),
+            "Load correction data from: '" << correction_file_path_from_sensor << "'");
         }
       }
-      if(run_org) {
+      if (run_org) {
         if (correction_file_path.empty()) {
           RCLCPP_ERROR_STREAM(
             this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
@@ -805,20 +777,20 @@ Status HesaiRosWrapper::GetCalibrationData(
             RCLCPP_ERROR_STREAM(
               this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
             return cal_status;
-          }else{
+          } else {
             RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '"
-                                    << correction_file_path << "'");
+              this->get_logger(), "Load correction data from: '" << correction_file_path << "'");
           }
         }
       }
     }
-  } // end AT128
+  }  // end AT128
 
   return Status::OK;
-  }
+}
 
-HesaiRosWrapper::~HesaiRosWrapper() {
+HesaiRosWrapper::~HesaiRosWrapper()
+{
   RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
   hw_interface_.FinalizeTcpDriver();
 }
@@ -831,8 +803,14 @@ Status HesaiRosWrapper::StreamStart()
   return interface_status_;
 }
 
-Status HesaiRosWrapper::StreamStop() { return Status::OK; }
-Status HesaiRosWrapper::Shutdown() { return Status::OK; }
+Status HesaiRosWrapper::StreamStop()
+{
+  return Status::OK;
+}
+Status HesaiRosWrapper::Shutdown()
+{
+  return Status::OK;
+}
 
 Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
   const drivers::SensorConfigurationBase & sensor_configuration)
@@ -844,8 +822,63 @@ Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is nee
 }
 
 Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
+  const drivers::SensorConfigurationBase & /* sensor_configuration */)
 {
+  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return Status::ERROR_1;
+  }
+
+  message_sep = ": ";
+  not_supported_message = "Not supported";
+  error_message = "Error";
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names.emplace_back("Bottom circuit board T1");
+      temperature_names.emplace_back("Bottom circuit board T2");
+      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names.emplace_back("Laser emitting board RT_L2");
+      temperature_names.emplace_back("Receiving board RT_R");
+      temperature_names.emplace_back("Receiving board RT2");
+      temperature_names.emplace_back("Top circuit RT3");
+      temperature_names.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names.emplace_back("Bottom circuit RT1");
+      temperature_names.emplace_back("Bottom circuit RT2");
+      temperature_names.emplace_back("Internal Temperature");
+      temperature_names.emplace_back("Laser emitting board RT1");
+      temperature_names.emplace_back("Laser emitting board RT2");
+      temperature_names.emplace_back("Receiving board RT1");
+      temperature_names.emplace_back("Top circuit RT1");
+      temperature_names.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface_.GetInventory();
+  current_inventory.reset(new HesaiInventory(result));
+  current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model = result.get_str_model();
+  info_serial = std::string(result.sn.begin(), result.sn.end());
+  hw_interface_.SetTargetModel(result.model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
+  InitializeHesaiDiagnostics();
   return Status::OK;
 }
 
@@ -858,16 +891,14 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
   RCLCPP_INFO_STREAM(this->get_logger(), p);
 
-  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param = 
+  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param =
     std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
   RCLCPP_INFO_STREAM(this->get_logger(), new_param);
   std::string sensor_model_str;
   std::string return_mode_str;
   if (
-    get_param(p, "sensor_model", sensor_model_str) |
-    get_param(p, "return_mode", return_mode_str) | 
-    get_param(p, "host_ip", new_param->host_ip) |
-    get_param(p, "sensor_ip", new_param->sensor_ip) |
+    get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
+    get_param(p, "host_ip", new_param->host_ip) | get_param(p, "sensor_ip", new_param->sensor_ip) |
     get_param(p, "frame_id", new_param->frame_id) |
     get_param(p, "data_port", new_param->data_port) |
     get_param(p, "gnss_port", new_param->gnss_port) |
@@ -938,8 +969,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
 
   diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
   diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add(
-    "hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
   diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
 
   current_status.reset();
@@ -964,8 +994,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add(
-      "hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
   } else {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
   }
@@ -1030,12 +1059,10 @@ void HesaiRosWrapper::OnHesaiStatusTimer()
     current_status.reset(new HesaiLidarStatus(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"),
-      error.what());
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
       error.what());
   }
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
@@ -1053,8 +1080,7 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
     });
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
       error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
@@ -1080,15 +1106,13 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
       error.what());
   } catch (const boost::system::system_error & error) {
     RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
+      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
       error.what());
   }
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
 }
 
-void HesaiRosWrapper::HesaiCheckStatus(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1105,8 +1129,7 @@ void HesaiRosWrapper::HesaiCheckStatus(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckPtp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1156,8 +1179,7 @@ void HesaiRosWrapper::HesaiCheckTemperature(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckRpm(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_status);
   if (current_status) {
@@ -1204,8 +1226,7 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
   }
 }
 
-void HesaiRosWrapper::HesaiCheckVoltage(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_monitor);
   if (current_monitor) {
@@ -1224,6 +1245,6 @@ void HesaiRosWrapper::HesaiCheckVoltage(
   }
 }
 
-  RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
+RCLCPP_COMPONENTS_REGISTER_NODE(HesaiRosWrapper)
 }  // namespace ros
 }  // namespace nebula
diff --git a/scripts/plot_times.py b/scripts/plot_times.py
index 521dfd347..3cbf93f61 100644
--- a/scripts/plot_times.py
+++ b/scripts/plot_times.py
@@ -24,7 +24,6 @@ def parse_logs(run_name):
     
     for col in [c for c in df.columns if c.startswith("d_")]:
         df[col] /= 1e6  # ns to ms
-    df['d_total'] = sum([df[c] for c in df.columns if c.startswith("d_")]) # type: ignore
     return df
 
 def plot_timing_comparison(run_names):
@@ -41,11 +40,13 @@ def plot_timing_comparison(run_names):
     boxes = axs[1:]
 
     for i, (label, df) in enumerate(scenario_dfs.items()):
-        durations = df['d_total']
+        # durations = df['d_total']
 
-        ax_d.plot(durations.index, durations, label=label, linestyle='', marker='.')
+        # ax_d.plot(durations.index, durations, label=label, linestyle='', marker='.')
         for col in filter(lambda col: col.startswith("n_"), df.columns):
             ax_n.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.', color='black')
+        for col in filter(lambda col: col.startswith("d_"), df.columns):
+            ax_d.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.')
         
         d_columns = [col for col in df.columns if col.startswith("d_")]
         n_cols = len(d_columns)

From 892a48b0e1daa1fe3c8cf5a085578fd5ed132b0d Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 26 Mar 2024 22:02:51 +0900
Subject: [PATCH 070/122] temporary progress

---
 nebula_messages/nebula_msgs/CMakeLists.txt    |   2 +-
 .../nebula_msgs/msg/NebulaPacket.msg          |   2 +-
 nebula_messages/nebula_msgs/package.xml       |   2 +-
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |   6 +-
 nebula_ros/launch/hesai_launch_all_hw.xml     |  59 ++++----
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 134 +++++-------------
 6 files changed, 78 insertions(+), 127 deletions(-)

diff --git a/nebula_messages/nebula_msgs/CMakeLists.txt b/nebula_messages/nebula_msgs/CMakeLists.txt
index 2ffa068a5..e2b798d9d 100644
--- a/nebula_messages/nebula_msgs/CMakeLists.txt
+++ b/nebula_messages/nebula_msgs/CMakeLists.txt
@@ -21,4 +21,4 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         std_msgs
         )
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
index f6ba285d8..be5898eb1 100644
--- a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
+++ b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
@@ -1,2 +1,2 @@
 builtin_interfaces/Time stamp
-uint8[] data
+uint8[] data
\ No newline at end of file
diff --git a/nebula_messages/nebula_msgs/package.xml b/nebula_messages/nebula_msgs/package.xml
index cdd135c37..3eb05e603 100644
--- a/nebula_messages/nebula_msgs/package.xml
+++ b/nebula_messages/nebula_msgs/package.xml
@@ -22,4 +22,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index e91d7fcaf..0681f9455 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -125,10 +125,14 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @return Resulting status
   Status InitializeHwInterface(
     const drivers::SensorConfigurationBase & sensor_configuration) override;
-  /// @brief Callback for receiving PandarScan
+  /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
 
+  /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
+  /// @param packet_msg The received packet message
+  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index a74eb9813..b7c1459ec 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,32 +33,35 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node pkg="nebula_ros" exec="hesai_ros_wrapper_node"
-           name="nebula_hesai" output="screen" ros_args="--log-level $(var debug_level)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="calibration_file" value="$(var calibration_file)"/>
-        <param name="correction_file" value="$(var correction_file)"/>
-        <param name="launch_hw" value="$(var launch_hw)"/>
-
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-        <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <param name="retry_hw" value="$(var retry_hw)"/>
-        <param name="ptp_profile" value="$(var ptp_profile)"/>
-        <param name="ptp_domain" value="$(var ptp_domain)"/>
-        <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
-        <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-
-        <param name="diag_span" value="$(var diag_span)"/>
-    </node>
+    <node_container pkg="rclcpp_components" exec="component_container_mt" name="nebula_container" 
+        output="screen" ros_args="--log-level $(var debug_level)" namespace="">
+        <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"
+               name="nebula_hesai">
+            <param name="sensor_model" value="$(var sensor_model)"/>
+            <param name="return_mode" value="$(var return_mode)"/>
+            <param name="frame_id" value="$(var frame_id)"/>
+            <param name="scan_phase" value="$(var scan_phase)"/>
+            <param name="sensor_ip" value="$(var sensor_ip)"/>
+            <param name="calibration_file" value="$(var calibration_file)"/>
+            <param name="correction_file" value="$(var correction_file)"/>
+            <param name="launch_hw" value="$(var launch_hw)"/>
+    
+            <param name="host_ip" value="$(var host_ip)"/>
+            <param name="data_port" value="$(var data_port)"/>
+            <param name="gnss_port" value="$(var gnss_port)"/>
+            <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+            <param name="rotation_speed" value="$(var rotation_speed)"/>
+            <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+            <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+            <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+            <param name="setup_sensor" value="$(var setup_sensor)"/>
+            <param name="retry_hw" value="$(var retry_hw)"/>
+            <param name="ptp_profile" value="$(var ptp_profile)"/>
+            <param name="ptp_domain" value="$(var ptp_domain)"/>
+            <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+            <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
+    
+            <param name="diag_span" value="$(var diag_span)"/>
+        </composable_node>
+    </node_container>
 </launch>
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index ce81d6b3e..8957a30d2 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -86,94 +86,31 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
       std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
       std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
 
-    RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-    StreamStart();
-    hw_interface_.RegisterScanCallback(
-      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                         qos_profile);
-
-  packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
-    "hesai_packets", rclcpp::SensorDataQoS());
-
-  packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-    "hesai_packets", rclcpp::SensorDataQoS(), [](nebula_msgs::msg::NebulaPacket::UniquePtr){});
-
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", rclcpp::SensorDataQoS());
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", rclcpp::SensorDataQoS());
-}
-
-//hwmon
-{
-cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return;
+    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+    rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
+                          qos_profile);
+
+    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
+      "hesai_packets", rclcpp::SensorDataQoS());
+
+    packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+      "hesai_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+
+    nebula_points_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
+      "pandar_points", rclcpp::SensorDataQoS());
+    aw_points_base_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
+    aw_points_ex_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
+      "aw_points_ex", rclcpp::SensorDataQoS());
   }
-  std::this_thread::sleep_for(std::chrono::milliseconds(this->delay_monitor_ms_));
 
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
 
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  std::vector<std::thread> thread_pool{};
-  thread_pool.emplace_back([this] {
-    auto result = hw_interface_.GetInventory();
-    current_inventory.reset(new HesaiInventory(result));
-    current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    RCLCPP_INFO_STREAM(this->get_logger(), "HesaiInventory");
-    RCLCPP_INFO_STREAM(this->get_logger(), result);
-    info_model = result.get_str_model();
-    info_serial = std::string(result.sn.begin(), result.sn.end());
-    hw_interface_.SetTargetModel(result.model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-    InitializeHesaiDiagnostics();
-  });
-  for (std::thread & th : thread_pool) {
-    th.join();
-  }
+  InitializeHwMonitor(*sensor_cfg_ptr_);
 
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
@@ -181,23 +118,30 @@ cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
-  auto t_received = std::chrono::high_resolution_clock::now().time_since_epoch().count();
-  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>(packet.size());
-  msg_ptr->stamp.sec = t_received / 1'000'000'000;
-  msg_ptr->stamp.nanosec = t_received % 1'000'000'000;
-  // TODO(mojomex) this copy could be avoided if transport_drivers would give us a non-const vector
-  std::copy(packet.begin(), packet.end(), msg_ptr->data.begin());
-  packet_pub_->publish(std::move(msg_ptr));
-
-  //todo
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
+  const auto now = std::chrono::system_clock::now();
+  const auto timestamp_ns =
+    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
+
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
+  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
+  std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
+
+  packet_pub_->publish(std::move(msg_ptr));
+}
+
+void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+{
+  std::lock_guard lock(mtx_decode_);
+
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ParseCloudPacket(packet);
+    driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
 
   auto t_end = std::chrono::high_resolution_clock::now();

From 21486763772063d8702bbdf6e2233d6ff81097e9 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 19:35:25 +0900
Subject: [PATCH 071/122] fix(hesai_ros_wrapper): remove changes wrongly merged
 during rebase

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 8957a30d2..9aef30110 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -91,6 +91,8 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
                           qos_profile);
 
+    //TODO(mojomex): create high-frequency QoS with large buffer to prevent packet loss
+
     packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
       "hesai_packets", rclcpp::SensorDataQoS());
 
@@ -137,8 +139,6 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  std::lock_guard lock(mtx_decode_);
-
   auto t_start = std::chrono::high_resolution_clock::now();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
@@ -742,7 +742,7 @@ HesaiRosWrapper::~HesaiRosWrapper()
 Status HesaiRosWrapper::StreamStart()
 {
   if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.CloudInterfaceStart();
+    interface_status_ = hw_interface_.SensorInterfaceStart();
   }
   return interface_status_;
 }

From 4923a469748087fbb5f939382009527a758f1aa6 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:16:36 +0900
Subject: [PATCH 072/122] fix(hesai_ros_wrapper): increase packet buffering to
 stop internal packet loss

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 43 +++++++++++-----------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 9aef30110..15f7eca09 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -88,23 +88,23 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
     RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
     rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-    auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10),
-                          qos_profile);
+    auto pointcloud_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    //TODO(mojomex): create high-frequency QoS with large buffer to prevent packet loss
-
-    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", rclcpp::SensorDataQoS());
+    auto packet_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1000), qos_profile);
 
+    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
     packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+      "hesai_packets", packet_qos,
+      std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
 
-    nebula_points_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
-      "pandar_points", rclcpp::SensorDataQoS());
+    nebula_points_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
     aw_points_base_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", rclcpp::SensorDataQoS());
-    aw_points_ex_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
-      "aw_points_ex", rclcpp::SensorDataQoS());
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+    aw_points_ex_pub_ =
+      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
   }
 
   RCLCPP_DEBUG(this->get_logger(), "Starting stream");
@@ -664,14 +664,12 @@ Status HesaiRosWrapper::GetCalibrationData(
           }
           rt = correction_configuration.LoadFromBinary(received_bytes);
           if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(), "LoadFromBinary success"
-                              << "\n");
+            RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
             run_local = false;
           } else {
             RCLCPP_ERROR_STREAM(
-              get_logger(), "LoadFromBinary failed"
-                              << ". Falling back to offline calibration file.");
+              get_logger(),
+              "LoadFromBinary failed" << ". Falling back to offline calibration file.");
             run_local = true;
           }
         } else {
@@ -923,8 +921,8 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
   current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
-  auto fetch_diag_from_sensor = [this](){ 
-    OnHesaiStatusTimer(); 
+  auto fetch_diag_from_sensor = [this]() {
+    OnHesaiStatusTimer();
     if (hw_interface_.UseHttpGetLidarMonitor()) {
       OnHesaiLidarMonitorTimerHttp();
     } else {
@@ -932,9 +930,10 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
     }
   };
 
-  fetch_diagnostics_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-    this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-    this->get_node_base_interface()->get_context());
+  fetch_diagnostics_timer_ =
+    std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
+      this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
+      this->get_node_base_interface()->get_context());
   this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {

From ff9096bbeef029baca37f083519621f1d2a59aca Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:17:59 +0900
Subject: [PATCH 073/122] feat(nebula_common): add instrumentation tools

---
 .../nebula_common/util/instrumentation.hpp    | 109 ++++++++++++++++++
 1 file changed, 109 insertions(+)
 create mode 100644 nebula_common/include/nebula_common/util/instrumentation.hpp

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
new file mode 100644
index 000000000..ab9357286
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/instrumentation.hpp
@@ -0,0 +1,109 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <iostream>
+
+namespace nebula
+{
+namespace util
+{
+
+using namespace std::chrono_literals;
+
+class Instrumentation
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  Instrumentation(std::string tag) : tag(tag), last_print(clock::now()) {}
+
+  void tick()
+  {
+    auto now = clock::now();
+
+    if (last_tick != time_point::min()) {
+      auto rtt = now - last_tick;
+      rtts_.update(rtt);
+    }
+
+    last_tick = now;
+  }
+
+  void tock()
+  {
+    auto now = clock::now();
+    auto delay = now - last_tick;
+    delays_.update(delay);
+
+    if (now - last_print >= PRINT_INTERVAL) {
+      auto del = delays_.reset();
+      auto rtt = rtts_.reset();
+
+      last_print = now;
+
+      std::cout << "{\"tag\": \"" << tag << "\", \"del_min\": " << del.min.count() * 1e-9
+                << ", \"del_avg\": " << del.avg.count() * 1e-9
+                << ", \"del_max\": " << del.max.count() * 1e-9
+                << ", \"rtt_min\": " << rtt.min.count() * 1e-9
+                << ", \"rtt_avg\": " << rtt.avg.count() * 1e-9
+                << ", \"rtt_max\": " << rtt.max.count() * 1e-9 << ", \"window\": " << rtt.count
+                << '}' << std::endl;
+    }
+  }
+
+private:
+  class Counter
+  {
+  public:
+    struct Stats
+    {
+      duration min;
+      duration avg;
+      duration max;
+      uint64_t count;
+    };
+
+    Stats reset()
+    {
+      auto avg_measurement = sum_measurements / num_measurements;
+
+      Stats result{min_measurement, avg_measurement, max_measurement, num_measurements};
+
+      sum_measurements = duration::zero();
+      num_measurements = 0;
+      min_measurement = duration::zero();
+      max_measurement = duration::max();
+    }
+
+    void update(duration measurement)
+    {
+      sum_measurements += measurement;
+      num_measurements++;
+
+      min_measurement = std::min(min_measurement, measurement);
+      max_measurement = std::max(max_measurement, measurement);
+    }
+
+  private:
+    duration sum_measurements{duration::zero()};
+    uint64_t num_measurements{0};
+    duration min_measurement{duration::max()};
+    duration max_measurement{duration::zero()};
+  };
+
+  std::string tag;
+
+  time_point last_tick{time_point::min()};
+  time_point last_print{time_point::min()};
+
+  Counter delays_;
+  Counter rtts_;
+
+  const duration PRINT_INTERVAL = 1s;
+};
+
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file

From fc168523bbac0cbc78d5d88a4e96ca239d70dac0 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 4 Apr 2024 20:18:20 +0900
Subject: [PATCH 074/122] feat(hesai_ros_wrapper): instrument code on critical
 path

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  1 +
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 37 +++++++++++++------
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 0681f9455..781b64198 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,6 +4,7 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
+#include "nebula_common/util/instrumentation.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 15f7eca09..1835e1de6 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -120,11 +120,14 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
+  static nebula::util::Instrumentation convert{"ReceiveCloudPacketCallback.convert"};
+  static nebula::util::Instrumentation publish{"ReceiveCloudPacketCallback.publish"};
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
+  convert.tick();
   const auto now = std::chrono::system_clock::now();
   const auto timestamp_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
@@ -133,22 +136,24 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
   std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
+  convert.tock();
 
+  publish.tick();
   packet_pub_->publish(std::move(msg_ptr));
+  publish.tock();
 }
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  auto t_start = std::chrono::high_resolution_clock::now();
+  static nebula::util::Instrumentation parse{"ProcessCloudPacket.parse"};
+  static nebula::util::Instrumentation convert{"ProcessCloudPacket.convert"};
+  static nebula::util::Instrumentation publish{"ProcessCloudPacket.publish"};
+
+  parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-
-  auto t_end = std::chrono::high_resolution_clock::now();
-  auto runtime = t_end - t_start;
-  t_start = t_end;
-  RCLCPP_DEBUG(
-    get_logger(), "PROFILING {'d_decode_packet': %lu}", runtime.count());
+  parse.tock();
 
   if (pointcloud == nullptr) {
     // todo
@@ -158,38 +163,48 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+    publish.tock();
   }
   if (
     aw_points_base_pub_->get_subscription_count() > 0 ||
     aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
+
     const auto autoware_cloud_xyzi =
       nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+    publish.tock();
   }
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
+    convert.tick();
+
     const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
       pointcloud, std::get<1>(pointcloud_ts));
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    convert.tock();
+    publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+    publish.tock();
   }
-
-  runtime = std::chrono::high_resolution_clock::now() - t_start;
-  RCLCPP_DEBUG(
-    get_logger(), "PROFILING {'d_convert_pc': %lu, 'n_out': %lu}", runtime.count(), pointcloud->size());
 }
 
 void HesaiRosWrapper::PublishCloud(

From b7a5a89e2acabc5bec764f846d618b504e09a5be Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:18:57 +0900
Subject: [PATCH 075/122] disable instrumentation

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  3 +-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 55 ++++++++++---------
 2 files changed, 32 insertions(+), 26 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 781b64198..149232e98 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,7 +4,8 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
-#include "nebula_common/util/instrumentation.hpp"
+// #include "nebula_common/util/instrumentation.hpp"
+// #include "nebula_common/util/topic_delay.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1835e1de6..533c3cf49 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -120,14 +120,15 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
 {
-  static nebula::util::Instrumentation convert{"ReceiveCloudPacketCallback.convert"};
-  static nebula::util::Instrumentation publish{"ReceiveCloudPacketCallback.publish"};
+  // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
+  // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
+  // static auto delay = nebula::util::TopicDelay("ReceiveCloudPacketCallback");
   // Driver is not initialized yet
   if (!driver_ptr_) {
     return;
   }
 
-  convert.tick();
+  // convert.tick();
   const auto now = std::chrono::system_clock::now();
   const auto timestamp_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
@@ -135,25 +136,29 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
   msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
-  std::copy(packet.begin(), packet.end(), std::back_inserter(msg_ptr->data));
-  convert.tock();
+  msg_ptr->data.swap(packet);
+  // convert.tock();
 
-  publish.tick();
-  packet_pub_->publish(std::move(msg_ptr));
-  publish.tock();
+  // delay.tick(msg_ptr->stamp);
+
+  // publish.tick();
+  // publish.tock();
 }
 
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
-  static nebula::util::Instrumentation parse{"ProcessCloudPacket.parse"};
-  static nebula::util::Instrumentation convert{"ProcessCloudPacket.convert"};
-  static nebula::util::Instrumentation publish{"ProcessCloudPacket.publish"};
+  // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
+  // static auto convert = nebula::util::Instrumentation("ProcessCloudPacket.convert");
+  // static auto publish = nebula::util::Instrumentation("ProcessCloudPacket.publish");
+  // static auto delay = nebula::util::TopicDelay("ProcessCloudPacket");
+
+  // delay.tick(packet_msg->stamp);
 
-  parse.tick();
+  // parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
   nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-  parse.tock();
+  // parse.tock();
 
   if (pointcloud == nullptr) {
     // todo
@@ -163,20 +168,20 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-    publish.tock();
+    // publish.tock();
   }
   if (
     aw_points_base_pub_->get_subscription_count() > 0 ||
     aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
 
     const auto autoware_cloud_xyzi =
       nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
@@ -184,15 +189,15 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-    publish.tock();
+    // publish.tock();
   }
   if (
     aw_points_ex_pub_->get_subscription_count() > 0 ||
     aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    convert.tick();
+    // convert.tick();
 
     const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
       pointcloud, std::get<1>(pointcloud_ts));
@@ -200,10 +205,10 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
     ros_pc_msg_ptr->header.stamp =
       rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    convert.tock();
-    publish.tick();
+    // convert.tock();
+    // publish.tick();
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-    publish.tock();
+    // publish.tock();
   }
 }
 

From d04af0e724a19ff0756ff0e169ac7003f948f266 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:20:44 +0900
Subject: [PATCH 076/122] feat(hesai): move received buffer into ros message
 instead of copy

---
 .../hesai_hw_interface.hpp                           |  6 +++---
 .../hesai_hw_interface.cpp                           | 12 ++++++------
 .../include/nebula_ros/hesai/hesai_ros_wrapper.hpp   |  2 +-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp           |  3 ++-
 4 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 34c5208ee..d71a26998 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -127,7 +127,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
   std::function<bool(size_t)>
     is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
-  std::function<void(const std::vector<uint8_t> & buffer)>
+  std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   int prev_phase_{};
@@ -198,7 +198,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
 
   /// @brief Callback function to receive the Cloud Packet data from the UDP Driver
   /// @param buffer Buffer containing the data received from the UDP socket
-  void ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer) final;
+  void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
   /// @brief Starting the interface that handles UDP streams
   /// @return Resulting status
   Status SensorInterfaceStart() final;
@@ -222,7 +222,7 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   /// @param scan_callback Callback function
   /// @return Resulting status
   Status RegisterScanCallback(
-    std::function<void(const std::vector<uint8_t> &)> scan_callback);
+    std::function<void(std::vector<uint8_t> &)> scan_callback);
   /// @brief Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION
   /// @return Resulting status
   std::string GetLidarCalibrationString();
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 4fbb020b0..e37d42a43 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -239,18 +239,18 @@ Status HesaiHwInterface::SensorInterfaceStart()
 }
 
 Status HesaiHwInterface::RegisterScanCallback(
-  std::function<void(const std::vector<uint8_t> &)> scan_callback)
+  std::function<void(std::vector<uint8_t> &)> scan_callback)
 {
   cloud_packet_callback_ = std::move(scan_callback);
   return Status::OK;
 }
 
-void HesaiHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
+void HesaiHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
-  if (!is_valid_packet_(buffer.size())) {
-    PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
-    return;
-  }
+  // if (!is_valid_packet_(buffer.size())) {
+  //   PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
+  //   return;
+  // } TODO
   cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 149232e98..3190b3b97 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -129,7 +129,7 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
-  void ReceiveCloudPacketCallback(const std::vector<uint8_t> & scan_buffer);
+  void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
 
   /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
   /// @param packet_msg The received packet message
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 533c3cf49..c113f1f04 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -118,7 +118,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
 
-void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & packet)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 {
   // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
   // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
@@ -142,6 +142,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(const std::vector<uint8_t> & pa
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
+  packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 

From bc8813a2c11586b28cb87c6406c659467afc0168 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:21:46 +0900
Subject: [PATCH 077/122] feat(hesai_ros_wrapper: add thread-safe queue between
 udp receiver and decoder, decode in separate thread

---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  5 +++
 .../include/nebula_ros/hesai/mt_queue.hpp     | 41 +++++++++++++++++++
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 27 ++++++++----
 3 files changed, 65 insertions(+), 8 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/hesai/mt_queue.hpp

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 3190b3b97..4e1a6be7d 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -28,6 +28,8 @@
 #include <thread>
 #include <array>
 
+#include "nebula_ros/hesai/mt_queue.hpp"
+
 namespace nebula
 {
 namespace ros
@@ -204,6 +206,9 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
   std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
 
+  mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  std::thread decoder_thread_;
+
   Status interface_status_;
 
   //todo: temporary class member during single node refactoring
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
new file mode 100644
index 000000000..49c08b957
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <condition_variable>
+#include <deque>
+#include <mutex>
+
+template <typename T>
+class mt_queue
+{
+private:
+  std::mutex d_mutex;
+  std::condition_variable d_condition;
+  std::deque<T> d_queue;
+
+  size_t capacity_;
+
+public:
+  mt_queue(size_t capacity) : capacity_(capacity) {}
+
+  bool push(T && value)
+  {
+    {
+      std::unique_lock<std::mutex> lock(this->d_mutex);
+      if (d_queue.size() == capacity_) {
+        return false;
+      }
+
+      d_queue.push_front(std::move(value));
+    }
+    this->d_condition.notify_one();
+    return true;
+  }
+  T pop()
+  {
+    std::unique_lock<std::mutex> lock(this->d_mutex);
+    this->d_condition.wait(lock, [=] { return !this->d_queue.empty(); });
+    T rc(std::move(this->d_queue.back()));
+    this->d_queue.pop_back();
+    return rc;
+  }
+};
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index c113f1f04..b86c05199 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,7 +7,8 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
-  diagnostics_updater_(this)
+  diagnostics_updater_(this),
+  packet_queue_(300)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
@@ -91,13 +92,20 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto pointcloud_qos =
       rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    auto packet_qos =
-      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 1000), qos_profile);
+    // auto packet_qos =
+    //   rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 300), qos_profile);
 
-    packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
-    packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-      "hesai_packets", packet_qos,
-      std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+    // packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
+    // packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
+    //   "hesai_packets", packet_qos,
+    //   std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
+
+    decoder_thread_ = std::thread([this](){
+      while(true) {
+        auto pkt = packet_queue_.pop();
+        this->ProcessCloudPacket(std::move(pkt));
+      }
+    });
 
     nebula_points_pub_ =
       this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
@@ -142,7 +150,10 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
-  packet_pub_->publish(std::move(msg_ptr));
+  if (!packet_queue_.push(std::move(msg_ptr))) {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
+  }
+  // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 

From 232afae5c96bf53ec011a88887995dc5e5e129cd Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:22:12 +0900
Subject: [PATCH 078/122] feat(nebula_common): more instrumentation tools

---
 .../nebula_common/util/instrumentation.hpp    | 87 +++++++------------
 .../util/performance_counter.hpp              | 43 +++++++++
 .../nebula_common/util/topic_delay.hpp        | 68 +++++++++++++++
 scripts/plot_instrumentation.py               | 77 ++++++++++++++++
 4 files changed, 220 insertions(+), 55 deletions(-)
 create mode 100644 nebula_common/include/nebula_common/util/performance_counter.hpp
 create mode 100644 nebula_common/include/nebula_common/util/topic_delay.hpp
 create mode 100755 scripts/plot_instrumentation.py

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
index ab9357286..ccce705d8 100644
--- a/nebula_common/include/nebula_common/util/instrumentation.hpp
+++ b/nebula_common/include/nebula_common/util/instrumentation.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include "nebula_common/util/performance_counter.hpp"
+
 #include <chrono>
 #include <cstdint>
 #include <iostream>
@@ -18,86 +20,61 @@ class Instrumentation
   using duration = std::chrono::nanoseconds;
 
 public:
-  Instrumentation(std::string tag) : tag(tag), last_print(clock::now()) {}
+  Instrumentation(std::string tag)
+  : tag_(std::move(tag)), last_print_(clock::now()), delays_(), rtts_()
+  {
+  }
 
   void tick()
   {
     auto now = clock::now();
 
-    if (last_tick != time_point::min()) {
-      auto rtt = now - last_tick;
+    if (last_tick_ != time_point::min()) {
+      auto rtt = now - last_tick_;
       rtts_.update(rtt);
     }
 
-    last_tick = now;
+    last_tick_ = now;
   }
 
   void tock()
   {
     auto now = clock::now();
-    auto delay = now - last_tick;
+    auto delay = now - last_tick_;
     delays_.update(delay);
 
-    if (now - last_print >= PRINT_INTERVAL) {
+    if (now - last_print_ >= PRINT_INTERVAL) {
       auto del = delays_.reset();
       auto rtt = rtts_.reset();
 
-      last_print = now;
+      last_print_ = now;
 
-      std::cout << "{\"tag\": \"" << tag << "\", \"del_min\": " << del.min.count() * 1e-9
-                << ", \"del_avg\": " << del.avg.count() * 1e-9
-                << ", \"del_max\": " << del.max.count() * 1e-9
-                << ", \"rtt_min\": " << rtt.min.count() * 1e-9
-                << ", \"rtt_avg\": " << rtt.avg.count() * 1e-9
-                << ", \"rtt_max\": " << rtt.max.count() * 1e-9 << ", \"window\": " << rtt.count
-                << '}' << std::endl;
-    }
-  }
+      std::stringstream ss;
 
-private:
-  class Counter
-  {
-  public:
-    struct Stats
-    {
-      duration min;
-      duration avg;
-      duration max;
-      uint64_t count;
-    };
-
-    Stats reset()
-    {
-      auto avg_measurement = sum_measurements / num_measurements;
-
-      Stats result{min_measurement, avg_measurement, max_measurement, num_measurements};
-
-      sum_measurements = duration::zero();
-      num_measurements = 0;
-      min_measurement = duration::zero();
-      max_measurement = duration::max();
-    }
+      ss << "{\"type\": \"instrumentation\", \"tag\": \"" << tag_
+         << "\", \"del\": [";
+      
+      for (duration & dt : *del) {
+        ss << dt.count() << ',';
+      }
 
-    void update(duration measurement)
-    {
-      sum_measurements += measurement;
-      num_measurements++;
+      ss <<"null], \"rtt\": [";
 
-      min_measurement = std::min(min_measurement, measurement);
-      max_measurement = std::max(max_measurement, measurement);
-    }
+      for (duration & dt : *rtt) {
+        ss << dt.count() << ',';
+      }
+         
+      ss <<  "null]}" << std::endl;
 
-  private:
-    duration sum_measurements{duration::zero()};
-    uint64_t num_measurements{0};
-    duration min_measurement{duration::max()};
-    duration max_measurement{duration::zero()};
-  };
+      std::cout << ss.str();
+    }
+  }
 
-  std::string tag;
+private:
+  std::string tag_;
 
-  time_point last_tick{time_point::min()};
-  time_point last_print{time_point::min()};
+  time_point last_tick_{time_point::min()};
+  time_point last_print_{time_point::min()};
 
   Counter delays_;
   Counter rtts_;
diff --git a/nebula_common/include/nebula_common/util/performance_counter.hpp b/nebula_common/include/nebula_common/util/performance_counter.hpp
new file mode 100644
index 000000000..cd6b618f1
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/performance_counter.hpp
@@ -0,0 +1,43 @@
+#pragma once
+
+#include <chrono>
+#include <cstdint>
+#include <vector>
+
+namespace nebula
+{
+namespace util
+{
+
+class Counter
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  Counter()
+  : buf_record_(), buf_output_()
+  {
+    buf_record_.resize(100000);
+    buf_output_.resize(100000);
+  }
+
+  std::vector<duration> * reset()
+  {
+    buf_record_.swap(buf_output_);
+    buf_record_.clear();
+    return &buf_output_;
+  }
+
+  void update(duration measurement)
+  {
+    buf_record_.push_back(measurement);
+  }
+
+private:
+  std::vector<duration> buf_record_;
+  std::vector<duration> buf_output_;
+};
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/topic_delay.hpp b/nebula_common/include/nebula_common/util/topic_delay.hpp
new file mode 100644
index 000000000..a92ce29a2
--- /dev/null
+++ b/nebula_common/include/nebula_common/util/topic_delay.hpp
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <builtin_interfaces/msg/time.hpp>
+
+#include "nebula_common/util/performance_counter.hpp"
+
+
+#include <chrono>
+#include <cstdint>
+#include <iostream>
+
+namespace nebula
+{
+namespace util
+{
+
+using namespace std::chrono_literals;
+
+class TopicDelay
+{
+  using clock = std::chrono::high_resolution_clock;
+  using time_point = clock::time_point;
+  using duration = std::chrono::nanoseconds;
+
+public:
+  TopicDelay(std::string tag) : tag_(std::move(tag)), last_print_(clock::now()), delays_() {}
+
+  void tick(builtin_interfaces::msg::Time & stamp)
+  {
+    auto now = clock::now();
+
+    time_point t_msg = time_point(duration(static_cast<uint64_t>(stamp.sec) * 1'000'000'000ULL + stamp.nanosec));
+    auto delay = now - t_msg;
+
+    delays_.update(delay);
+
+    if (now - last_print_ >= PRINT_INTERVAL) {
+      auto del = delays_.reset();
+
+      last_print_ = now;
+
+      std::stringstream ss;
+
+      ss << "{\"type\": \"topic_delay\", \"tag\": \"" << tag_
+         << "\", \"del\": [";
+      
+      for (duration & dt : *del) {
+        ss << dt.count() << ',';
+      }
+
+      ss <<  "null]}" << std::endl;
+
+      std::cout << ss.str();
+    }
+  }
+
+private:
+  std::string tag_;
+
+  time_point last_print_{time_point::min()};
+
+  Counter delays_;
+
+  const duration PRINT_INTERVAL = 1s;
+};
+
+}  // namespace util
+}  // namespace nebula
\ No newline at end of file
diff --git a/scripts/plot_instrumentation.py b/scripts/plot_instrumentation.py
new file mode 100755
index 000000000..fe9c12fda
--- /dev/null
+++ b/scripts/plot_instrumentation.py
@@ -0,0 +1,77 @@
+#!/usr/bin/python3
+
+import argparse
+from matplotlib import pyplot as plt
+import numpy as np
+import pandas as pd
+import re
+import json
+import os
+from collections import defaultdict
+
+def condition_data(log_file: str):
+  with open(log_file, 'r') as f:
+    lines = f.readlines()
+    lines = [re.search(r'(\{"type":.*?"tag":.*?\})', l) for l in lines]
+    lines = [re.sub(r'([0-9])"', r'\1', l[1]) for l in lines if l]
+    lines = [json.loads(l) for l in lines if l]
+
+    cols = defaultdict(list)
+
+    for record in lines:
+      for key in record.keys():
+        if key in ["tag", "type"]:
+          continue
+
+        colname = f"{record['type']}.{key}.{record['tag']}"
+        cols[colname] += [num for num in record[key] if num is not None]
+
+  def quantile_filter(series, quantile):
+    q = series.quantile(quantile)
+    return series[series <= q]
+
+  cols = {k: pd.Series(v, name=k) / 1e3 for k, v in cols.items()}
+  cols = {k: quantile_filter(v, .999) for k, v in cols.items()}
+
+  for v in cols.values():
+    v: pd.Series
+    v.attrs['file'] = os.path.basename(os.path.splitext(log_file)[0])
+
+  return cols
+
+def plot(conditioned_logs):
+
+  conditioned_logs = {k: [dic[k] for dic in conditioned_logs] for k in conditioned_logs[0]}
+
+  fig, axs = plt.subplots(1, len(conditioned_logs), figsize=(15, 8), dpi=120)
+
+  handles, labels = [], []
+
+  for i, k in enumerate(sorted(conditioned_logs.keys())):
+    k: str
+    v = conditioned_logs[k]
+    ax: plt.Axes = axs[i]
+    art = ax.boxplot(v)
+    handles.append(art)
+    labels.append(k)
+    ax.set_ylabel("dt [µs]")
+    ax.set_title(k.replace(".", "\n"))
+    ax.set_xticks([1 + i for i in range(len(v))], [ser.attrs['file'] for ser in v])
+    ax.tick_params(axis='x', labelrotation=90)
+
+
+
+  fig.tight_layout()
+  plt.savefig("instrumentation.png")
+  plt.show()
+
+def main(args):
+   conditioned_logs = [condition_data(f) for f in args.log_files]
+   plot(conditioned_logs)
+  
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("log_files", nargs="+")
+  args = parser.parse_args()
+
+  main(args)
\ No newline at end of file

From e9afe522b492a0a55ad1e9d2727015fbee4cac76 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 5 Apr 2024 17:23:02 +0900
Subject: [PATCH 079/122] fix: update link to transport_drivers fork

---
 build_depends.repos | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_depends.repos b/build_depends.repos
index e28379f1a..e9278685a 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -2,5 +2,5 @@ repositories:
   # TCP version of transport drivers
   transport_drivers:
     type: git
-    url: https://github.com/MapIV/transport_drivers
-    version: boost
+    url: https://github.com/mojomex/transport_drivers
+    version: mutable-buffer-in-udp-callback

From 1f1e92e22913ff94b5bfe010c1ac3b77cbe8df6a Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 15:36:49 +0900
Subject: [PATCH 080/122] update GitHub PR view


From 617373a38fccec1326c77d6da1b9df78295d39df Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:43:51 +0900
Subject: [PATCH 081/122] refactor(mt_queue): make variables more readable

---
 .../include/nebula_ros/hesai/mt_queue.hpp     | 25 +++++++++----------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 49c08b957..730b54f7c 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -8,10 +8,9 @@ template <typename T>
 class mt_queue
 {
 private:
-  std::mutex d_mutex;
-  std::condition_variable d_condition;
-  std::deque<T> d_queue;
-
+  std::mutex mutex_;
+  std::condition_variable condition_variable_;
+  std::deque<T> queue_;
   size_t capacity_;
 
 public:
@@ -20,22 +19,22 @@ class mt_queue
   bool push(T && value)
   {
     {
-      std::unique_lock<std::mutex> lock(this->d_mutex);
-      if (d_queue.size() == capacity_) {
+      std::unique_lock<std::mutex> lock(this->mutex_);
+      if (queue_.size() == capacity_) {
         return false;
       }
 
-      d_queue.push_front(std::move(value));
+      queue_.push_front(std::move(value));
     }
-    this->d_condition.notify_one();
+    this->condition_variable_.notify_one();
     return true;
   }
   T pop()
   {
-    std::unique_lock<std::mutex> lock(this->d_mutex);
-    this->d_condition.wait(lock, [=] { return !this->d_queue.empty(); });
-    T rc(std::move(this->d_queue.back()));
-    this->d_queue.pop_back();
-    return rc;
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->condition_variable_.wait(lock, [=] { return !this->queue_.empty(); });
+    T return_value(std::move(this->queue_.back()));
+    this->queue_.pop_back();
+    return return_value;
   }
 };
\ No newline at end of file

From b81f2a9eaf77b2098320a70948cf810dc194b467 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:45:48 +0900
Subject: [PATCH 082/122] perf(hesai_ros_wrapper): update queue capacity to
 alleviate packet drops on ECU

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index b86c05199..f84371a36 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -8,7 +8,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
   diagnostics_updater_(this),
-  packet_queue_(300)
+  packet_queue_(3000)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 

From 18cb87537741320a2c5edbb868b53d819cfa032c Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:46:11 +0900
Subject: [PATCH 083/122] chore(hesai_ros_wrapper): remove unused pub/sub

---
 .../include/nebula_ros/hesai/hesai_ros_wrapper.hpp    |  3 ---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp            | 11 -----------
 2 files changed, 14 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 4e1a6be7d..b2cbd04dc 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -195,9 +195,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
 
-  rclcpp::Publisher<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_pub_;
-  rclcpp::Subscription<nebula_msgs::msg::NebulaPacket>::SharedPtr packet_sub_;
-
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index f84371a36..1540df3fa 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -92,14 +92,6 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto pointcloud_qos =
       rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-    // auto packet_qos =
-    //   rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 300), qos_profile);
-
-    // packet_pub_ = create_publisher<nebula_msgs::msg::NebulaPacket>("hesai_packets", packet_qos);
-    // packet_sub_ = create_subscription<nebula_msgs::msg::NebulaPacket>(
-    //   "hesai_packets", packet_qos,
-    //   std::bind(&HesaiRosWrapper::ProcessCloudPacket, this, std::placeholders::_1));
-
     decoder_thread_ = std::thread([this](){
       while(true) {
         auto pkt = packet_queue_.pop();
@@ -254,9 +246,6 @@ Status HesaiRosWrapper::GetStatus()
 
 Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
 {
-  ///////////////////////////////////////////////
-  // Define and get ROS parameters
-  ///////////////////////////////////////////////
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;

From 0cdcd802724c9622bc21a7bc85033099c8568fe9 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 18:07:03 +0900
Subject: [PATCH 084/122] refactor(hesai_ros_wrapper): clean up control flow,
 member variables

---
 .../common/nebula_ros_wrapper_base.hpp        |  68 ---
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    | 110 ++---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 436 ++++++++----------
 3 files changed, 230 insertions(+), 384 deletions(-)
 delete mode 100644 nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp

diff --git a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp b/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
deleted file mode 100644
index 5aaeb634b..000000000
--- a/nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#pragma once
-
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-#include <sensor_msgs/msg/point_cloud2.hpp>
-
-#include <string>
-#include <vector>
-
-namespace nebula
-{
-namespace ros
-{
-/// @brief Base class for ros wrapper of each sensor driver
-class NebulaRosWrapperBase
-{
-public:
-  NebulaRosWrapperBase() = default;
-
-  NebulaRosWrapperBase(NebulaRosWrapperBase && c) = delete;
-  NebulaRosWrapperBase & operator=(NebulaRosWrapperBase && c) = delete;
-  NebulaRosWrapperBase(const NebulaRosWrapperBase & c) = delete;
-  NebulaRosWrapperBase & operator=(const NebulaRosWrapperBase & c) = delete;
-
-  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
-  /// @return Resulting status
-  virtual Status StreamStart() = 0;
-
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  virtual Status StreamStop() = 0;
-
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  virtual Status Shutdown() = 0;
-
-private:
-  /// @brief Virtual function for initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
-
-  /// @brief Virtual function for initializing hardware monitor ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
-
-  /// @brief Virtual function for initializing ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @return Resulting status
-  virtual Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) = 0;
-
-  /// @brief Point cloud publisher
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;
-};
-
-}  // namespace ros
-}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index b2cbd04dc..2ba2e2407 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -8,9 +8,7 @@
 // #include "nebula_common/util/topic_delay.hpp"
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
-#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp"
-#include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp"
-#include "nebula_ros/common/nebula_ros_wrapper_base.hpp"
+#include "nebula_ros/hesai/mt_queue.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -28,8 +26,6 @@
 #include <thread>
 #include <array>
 
-#include "nebula_ros/hesai/mt_queue.hpp"
-
 namespace nebula
 {
 namespace ros
@@ -55,7 +51,7 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
 }
 
 /// @brief Ros wrapper of hesai driver
-class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
+class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
   explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
@@ -67,36 +63,17 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
 
   /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
   /// @return Resulting status
-  Status StreamStart() override;
-  /// @brief Stop point cloud streaming (not used)
-  /// @return Resulting status
-  Status StreamStop() override;
-  /// @brief Shutdown (not used)
-  /// @return Resulting status
-  Status Shutdown() override;
+  Status StreamStart();
 
 private:
-  /// @brief Initialize pointcloud decoder
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver (only for AT128, ignored otherwise)
-  /// @return Resulting status
-  Status InitializeCloudDriver(
-    const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-    const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
-
-  Status InitializeCloudDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) {
-      return InitializeCloudDriver(sensor_configuration, calibration_configuration, nullptr);
-    }
+  Status InitializeHwInterface();
+  Status InitializeDecoder();
+  Status InitializeHwMonitor();
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(
-    drivers::HesaiSensorConfiguration & sensor_configuration);
+  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
 
   /// @brief Get calibration data from the sensor
   /// @param calibration_configuration Output of CalibrationConfiguration
@@ -124,11 +101,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
     std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
     const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
 
-  /// @brief Initializing hardware interface ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwInterface(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
   /// @brief Callback for receiving a raw UDP packet
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
@@ -146,12 +118,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @return SetParametersResult
   std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
 
-  /// @brief Initializing hardware monitor ros wrapper
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeHwMonitor(
-    const drivers::SensorConfigurationBase & sensor_configuration) override;
-
   /// @brief Initializing diagnostics
   void InitializeHesaiDiagnostics();
   /// @brief Callback of the timer for getting the current lidar status
@@ -193,7 +159,10 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::string GetFixedPrecisionString(double val, int pre = 2);
 
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  drivers::HesaiHwInterface hw_interface_;
+
   Status wrapper_status_;
+  Status interface_status_;
 
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
@@ -203,15 +172,15 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
   std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
 
+  /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  /// @brief Thread to isolate decoding from receiving
   std::thread decoder_thread_;
 
-  Status interface_status_;
-
-  //todo: temporary class member during single node refactoring
+  // todo: temporary class member during single node refactoring
   bool launch_hw_;
 
-  //todo: temporary class member during single node refactoring
+  // todo: temporary class member during single node refactoring
   std::string calibration_file_path;
   /// @brief File path of Correction data (Only required only for AT)
   std::string correction_file_path;
@@ -219,9 +188,6 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   /// @brief Received Hesai message publisher
   rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
 
-  drivers::HesaiHwInterface hw_interface_;
-
-  uint16_t delay_hw_ms_;
   bool retry_hw_;
   std::mutex mtx_config_;
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
@@ -229,39 +195,35 @@ class HesaiRosWrapper final : public rclcpp::Node, NebulaRosWrapperBase
   diagnostic_updater::Updater diagnostics_updater_;
 
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
-  rclcpp::TimerBase::SharedPtr diagnostics_update_monitor_timer_;
   rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_;
-  std::unique_ptr<HesaiLidarStatus> current_status;
-  std::unique_ptr<HesaiLidarMonitor> current_monitor;
-  std::unique_ptr<HesaiConfig> current_config;
-  std::unique_ptr<HesaiInventory> current_inventory;
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree;
-  std::unique_ptr<rclcpp::Time> current_status_time;
-  std::unique_ptr<rclcpp::Time> current_config_time;
-  std::unique_ptr<rclcpp::Time> current_inventory_time;
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time;
-  uint8_t current_diag_status;
-  uint8_t current_monitor_status;
 
-  uint16_t diag_span_;
-  uint16_t delay_monitor_ms_;
-  std::mutex mtx_diag;
-  std::mutex mtx_status;
-  std::mutex mtx_lidar_monitor;
+  std::unique_ptr<HesaiLidarStatus> current_status_;
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_;
+  std::unique_ptr<HesaiConfig> current_config_;
+  std::unique_ptr<HesaiInventory> current_inventory_;
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_;
+
+  std::unique_ptr<rclcpp::Time> current_status_time_;
+  std::unique_ptr<rclcpp::Time> current_config_time_;
+  std::unique_ptr<rclcpp::Time> current_inventory_time_;
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_;
 
-  std::string info_model;
-  std::string info_serial;
-  rclcpp::CallbackGroup::SharedPtr cbg_r_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m_;
-  rclcpp::CallbackGroup::SharedPtr cbg_m2_;
+  uint8_t current_diag_status_;
+  uint8_t current_monitor_status_;
+
+  uint16_t diag_span_;
+  std::mutex mtx_lidar_status_;
+  std::mutex mtx_lidar_monitor_;
 
-  const char * not_supported_message;
-  const char * error_message;
-  std::string message_sep;
+  std::string info_model_;
+  std::string info_serial_;
 
-  std::vector<std::string> temperature_names;
+  std::vector<std::string> temperature_names_;
 
   bool setup_sensor;
+  const std::string MSG_NOT_SUPPORTED = "Not supported";
+  const std::string MSG_ERROR = "Error";
+  const std::string MSG_SEP = ": ";
 };
 
 }  // namespace ros
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1540df3fa..f0e6c121a 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,115 +7,164 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
-  diagnostics_updater_(this),
-  packet_queue_(3000)
+  packet_queue_(3000),
+  diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   drivers::HesaiSensorConfiguration sensor_configuration;
   wrapper_status_ = GetParameters(sensor_configuration);
   sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
+  // DeclareRosParameters();
+  // auto sensor_cfg_ptr = GetRosParameters();
+  InitializeHwInterface();
+  InitializeDecoder();
+  InitializeHwMonitor();
+  // StreamStart();
 
-  // hwiface
-  {
-    if (Status::OK != interface_status_) {
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-      return;
-    }
-    hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    Status rt = hw_interface_.InitializeTcpDriver();
-    if (this->retry_hw_) {
-      int cnt = 0;
-      RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-      while (rt == Status::ERROR_1) {
-        cnt++;
-        std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-        RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << cnt);
-        rt = hw_interface_.InitializeTcpDriver();
-      }
+
+  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
+  StreamStart();
+  hw_interface_.RegisterScanCallback(
+    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+
+  set_param_res_ = this->add_on_set_parameters_callback(
+    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+}
+
+Status HesaiRosWrapper::InitializeHwInterface()
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return interface_status_;
+  }
+  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
+  hw_interface_.SetSensorConfiguration(
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+  
+  Status status;
+  int retry_count = 0;
+
+  while (true) {
+    status = hw_interface_.InitializeTcpDriver();
+    if (status == Status::OK || !retry_hw_) {
+      break;
     }
 
-    if (rt != Status::ERROR_1) {
-      try {
-        std::vector<std::thread> thread_pool{};
-        thread_pool.emplace_back([this] {
-          auto result = hw_interface_.GetInventory();
-          RCLCPP_INFO_STREAM(get_logger(), result);
-          hw_interface_.SetTargetModel(result.model);
-        });
-        for (std::thread & th : thread_pool) {
-          th.join();
-        }
+    retry_count++;
+    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
+  };
 
-      } catch (...) {
-        std::cout << "catch (...) in parent" << std::endl;
-        RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-      }
-      if (this->setup_sensor) {
-        hw_interface_.CheckAndSetConfig();
-        updateParameters();
-      }
-    } else {
-      RCLCPP_ERROR_STREAM(
-        get_logger(),
-        "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-      hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+  if (status == Status::OK) {
+    try {
+      auto inventory = hw_interface_.GetInventory();
+      RCLCPP_INFO_STREAM(get_logger(), inventory);
+      hw_interface_.SetTargetModel(inventory.model);
+    } catch (...) {
+      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
     }
+    if (this->setup_sensor) {
+      hw_interface_.CheckAndSetConfig();
+      updateParameters();
+    }
+  } else {
+    RCLCPP_ERROR_STREAM(
+      get_logger(),
+      "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
   }
-  // decoder
-  {
-    drivers::HesaiCalibrationConfiguration calibration_configuration;
-    drivers::HesaiCorrection correction_configuration;
 
-    wrapper_status_ = GetCalibrationData(calibration_configuration, correction_configuration);
-    if (Status::OK != wrapper_status_) {
-      RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-      return;
-    }
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-
-    calibration_cfg_ptr_ =
-      std::make_shared<drivers::HesaiCalibrationConfiguration>(calibration_configuration);
-    // Will be left empty for AT128, and ignored by all decoders except AT128
-    correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
-
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-    wrapper_status_ = InitializeCloudDriver(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
-
-    RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-    rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-    auto pointcloud_qos =
-      rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
-
-    decoder_thread_ = std::thread([this](){
-      while(true) {
-        auto pkt = packet_queue_.pop();
-        this->ProcessCloudPacket(std::move(pkt));
-      }
-    });
+  return Status::OK;
+}
+
+Status HesaiRosWrapper::InitializeDecoder()
+{
+  calibration_cfg_ptr_ = std::make_shared<drivers::HesaiCalibrationConfiguration>();
+  correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>();
 
-    nebula_points_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
-    aw_points_base_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
-    aw_points_ex_pub_ =
-      this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+  wrapper_status_ = GetCalibrationData(*calibration_cfg_ptr_, *correction_cfg_ptr_);
+  if (Status::OK != wrapper_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
+    return wrapper_status_;
   }
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
+  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
+  auto pointcloud_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+
+  decoder_thread_ = std::thread([this]() {
+    while (true) {
+      auto pkt = packet_queue_.pop();
+      this->ProcessCloudPacket(std::move(pkt));
+    }
+  });
 
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+  nebula_points_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
+  aw_points_base_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ =
+    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
 
-  InitializeHwMonitor(*sensor_cfg_ptr_);
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
+    sensor_cfg_ptr_, calibration_cfg_ptr_, correction_cfg_ptr_);
+  return driver_ptr_->GetStatus();
+}
 
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
+Status HesaiRosWrapper::InitializeHwMonitor()
+{
+  if (Status::OK != interface_status_) {
+    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
+    return Status::ERROR_1;
+  }
+
+  switch (sensor_cfg_ptr_->sensor_model) {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names_.emplace_back("Bottom circuit board T1");
+      temperature_names_.emplace_back("Bottom circuit board T2");
+      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names_.emplace_back("Laser emitting board RT_L2");
+      temperature_names_.emplace_back("Receiving board RT_R");
+      temperature_names_.emplace_back("Receiving board RT2");
+      temperature_names_.emplace_back("Top circuit RT3");
+      temperature_names_.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names_.emplace_back("Bottom circuit RT1");
+      temperature_names_.emplace_back("Bottom circuit RT2");
+      temperature_names_.emplace_back("Internal Temperature");
+      temperature_names_.emplace_back("Laser emitting board RT1");
+      temperature_names_.emplace_back("Laser emitting board RT2");
+      temperature_names_.emplace_back("Receiving board RT1");
+      temperature_names_.emplace_back("Top circuit RT1");
+      temperature_names_.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface_.GetInventory();
+  current_inventory_.reset(new HesaiInventory(result));
+  current_inventory_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model_ = result.get_str_model();
+  info_serial_ = std::string(result.sn.begin(), result.sn.end());
+  hw_interface_.SetTargetModel(result.model);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model_);
+  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial_);
+  InitializeHesaiDiagnostics();
+  return Status::OK;
 }
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
@@ -227,18 +276,6 @@ void HesaiRosWrapper::PublishCloud(
   publisher->publish(std::move(pointcloud));
 }
 
-Status HesaiRosWrapper::InitializeCloudDriver(
-  const std::shared_ptr<drivers::SensorConfigurationBase> & sensor_configuration,
-  const std::shared_ptr<drivers::CalibrationConfigurationBase> & calibration_configuration,
-  const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration)
-{
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration),
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
-  return driver_ptr_->GetStatus();
-}
-
 Status HesaiRosWrapper::GetStatus()
 {
   return wrapper_status_;
@@ -766,85 +803,6 @@ Status HesaiRosWrapper::StreamStart()
   return interface_status_;
 }
 
-Status HesaiRosWrapper::StreamStop()
-{
-  return Status::OK;
-}
-Status HesaiRosWrapper::Shutdown()
-{
-  return Status::OK;
-}
-
-Status HesaiRosWrapper::InitializeHwInterface(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & sensor_configuration)
-{
-  std::stringstream ss;
-  ss << sensor_configuration;
-  RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str());
-  return Status::OK;
-}
-
-Status HesaiRosWrapper::InitializeHwMonitor(  // todo: don't think this is needed
-  const drivers::SensorConfigurationBase & /* sensor_configuration */)
-{
-  cbg_r_ = create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  cbg_m_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  cbg_m2_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return Status::ERROR_1;
-  }
-
-  message_sep = ": ";
-  not_supported_message = "Not supported";
-  error_message = "Error";
-
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names.emplace_back("Bottom circuit board T1");
-      temperature_names.emplace_back("Bottom circuit board T2");
-      temperature_names.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names.emplace_back("Laser emitting board RT_L2");
-      temperature_names.emplace_back("Receiving board RT_R");
-      temperature_names.emplace_back("Receiving board RT2");
-      temperature_names.emplace_back("Top circuit RT3");
-      temperature_names.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names.emplace_back("Bottom circuit RT1");
-      temperature_names.emplace_back("Bottom circuit RT2");
-      temperature_names.emplace_back("Internal Temperature");
-      temperature_names.emplace_back("Laser emitting board RT1");
-      temperature_names.emplace_back("Laser emitting board RT2");
-      temperature_names.emplace_back("Receiving board RT1");
-      temperature_names.emplace_back("Top circuit RT1");
-      temperature_names.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  auto result = hw_interface_.GetInventory();
-  current_inventory.reset(new HesaiInventory(result));
-  current_inventory_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  std::cout << "HesaiInventory" << std::endl;
-  std::cout << result << std::endl;
-  info_model = result.get_str_model();
-  info_serial = std::string(result.sn.begin(), result.sn.end());
-  hw_interface_.SetTargetModel(result.model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial);
-  InitializeHesaiDiagnostics();
-  return Status::OK;
-}
-
 rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
   const std::vector<rclcpp::Parameter> & p)
 {
@@ -926,7 +884,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
   using std::chrono_literals::operator""s;
   std::ostringstream os;
-  auto hardware_id = info_model + ": " + info_serial;
+  auto hardware_id = info_model_ + ": " + info_serial_;
   diagnostics_updater_.setHardwareID(hardware_id);
   RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
 
@@ -935,12 +893,12 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
   diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
 
-  current_status.reset();
-  current_monitor.reset();
-  current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_status_.reset();
+  current_monitor_.reset();
+  current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
 
   auto fetch_diag_from_sensor = [this]() {
     OnHesaiStatusTimer();
@@ -952,10 +910,7 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   };
 
   fetch_diagnostics_timer_ =
-    std::make_shared<rclcpp::GenericTimer<decltype(fetch_diag_from_sensor)>>(
-      this->get_clock(), std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor),
-      this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(fetch_diagnostics_timer_, cbg_m_);
+    create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
 
   if (hw_interface_.UseHttpGetLidarMonitor()) {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
@@ -966,32 +921,30 @@ void HesaiRosWrapper::InitializeHesaiDiagnostics()
   auto on_timer_update = [this] {
     RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
     auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time).seconds();
+    auto dif = (now - *current_status_time_).seconds();
 
     RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
 
     if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
     } else {
-      current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(get_logger(), "OK");
     }
-    dif = (now - *current_lidar_monitor_time).seconds();
+    dif = (now - *current_lidar_monitor_time_).seconds();
     RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
     if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
     } else {
-      current_monitor_status = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(get_logger(), "OK");
     }
     diagnostics_updater_.force_update();
   };
-  diagnostics_update_timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer_update)>>(
-    this->get_clock(), std::chrono::milliseconds(1000), std::move(on_timer_update),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(diagnostics_update_timer_, cbg_r_);
+  diagnostics_update_timer_ =
+    create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
 
   RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
 }
@@ -1003,7 +956,7 @@ std::string HesaiRosWrapper::GetPtreeValue(
   if (value) {
     return value.get();
   } else {
-    return not_supported_message;
+    return MSG_NOT_SUPPORTED;
   }
 }
 std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
@@ -1018,9 +971,9 @@ void HesaiRosWrapper::OnHesaiStatusTimer()
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
   try {
     auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_status);
-    current_status_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status.reset(new HesaiLidarStatus(result));
+    std::scoped_lock lock(mtx_lidar_status_);
+    current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_status_.reset(new HesaiLidarStatus(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
       rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
@@ -1037,9 +990,9 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
   try {
     hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor);
-      current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree =
+      std::scoped_lock lock(mtx_lidar_monitor_);
+      current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+      current_lidar_monitor_tree_ =
         std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
     });
   } catch (const std::system_error & error) {
@@ -1059,11 +1012,10 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
 {
   RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
   try {
-    auto ios = std::make_shared<boost::asio::io_service>();
     auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor);
-    current_lidar_monitor_time.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor.reset(new HesaiLidarMonitor(result));
+    std::scoped_lock lock(mtx_lidar_monitor_);
+    current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
+    current_monitor_.reset(new HesaiLidarMonitor(result));
   } catch (const std::system_error & error) {
     RCLCPP_ERROR_STREAM(
       rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
@@ -1078,14 +1030,14 @@ void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
 
 void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
-    diagnostics.add("system_uptime", std::to_string(current_status->system_uptime));
-    diagnostics.add("startup_times", std::to_string(current_status->startup_times));
-    diagnostics.add("total_operation_time", std::to_string(current_status->total_operation_time));
+    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime));
+    diagnostics.add("startup_times", std::to_string(current_status_->startup_times));
+    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1095,13 +1047,13 @@ void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapp
 
 void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    auto gps_status = current_status->get_str_gps_pps_lock();
-    auto gprmc_status = current_status->get_str_gps_gprmc_status();
-    auto ptp_status = current_status->get_str_ptp_clock_status();
+    auto gps_status = current_status_->get_str_gps_pps_lock();
+    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
+    auto ptp_status = current_status_->get_str_ptp_clock_status();
     std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
     std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
     std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
@@ -1129,13 +1081,13 @@ void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper
 void HesaiRosWrapper::HesaiCheckTemperature(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    for (size_t i = 0; i < current_status->temperature.size(); i++) {
+    for (size_t i = 0; i < current_status_->temperature.size(); i++) {
       diagnostics.add(
-        temperature_names[i], GetFixedPrecisionString(current_status->temperature[i] * 0.01));
+        temperature_names_[i], GetFixedPrecisionString(current_status_->temperature[i] * 0.01));
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1145,11 +1097,11 @@ void HesaiRosWrapper::HesaiCheckTemperature(
 
 void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_status);
-  if (current_status) {
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status->motor_speed));
+    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {
@@ -1160,8 +1112,8 @@ void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper
 void HesaiRosWrapper::HesaiCheckVoltageHttp(
   diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_lidar_monitor_tree) {
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_lidar_monitor_tree_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     std::string key = "";
@@ -1169,18 +1121,18 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
     std::string mes;
     key = "lidarInCur";
     try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
     } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
+      mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
     key = "lidarInVol";
     try {
-      mes = GetPtreeValue(current_lidar_monitor_tree.get(), "Body." + key);
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
     } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = error_message + std::string(ex.what());
+      mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
 
@@ -1192,16 +1144,16 @@ void HesaiRosWrapper::HesaiCheckVoltageHttp(
 
 void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
-  std::scoped_lock lock(mtx_lidar_monitor);
-  if (current_monitor) {
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_monitor_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor->input_voltage * 0.01) + " V");
+      "input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage * 0.01) + " V");
     diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor->input_current * 0.01) + " mA");
+      "input_current", GetFixedPrecisionString(current_monitor_->input_current * 0.01) + " mA");
     diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor->input_power * 0.01) + " W");
+      "input_power", GetFixedPrecisionString(current_monitor_->input_power * 0.01) + " W");
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {

From 162e7546359f8d35074762bca2a26f16d0930dd0 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 28 Mar 2024 20:10:51 +0900
Subject: [PATCH 085/122] fix(hesai_hw_interface): add error handling

* check PTC command error codes, throw exception if necessary
* perform size checks before parsing responses
* emit errors on too-large payload size
---
 .../nebula_hw_interfaces_hesai/hesai_cmd_response.hpp           | 2 +-
 .../nebula_hw_interfaces_hesai/hesai_hw_interface.hpp           | 1 +
 .../src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp       | 1 -
 3 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index a6d78c45e..2691def33 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -124,7 +124,7 @@ struct HesaiPtpDiagGrandmaster
   {
     os << "clockQuality: " << arg.clockQuality;
     os << ", ";
-    os << "utc_offset: " << arg.utc_offset;
+    os << "utc_offset: " << static_cast<int>(arg.utc_offset.value());
     os << ", ";
     os << "time_flags: " << +arg.time_flags;
     os << ", ";
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index d71a26998..84750bcb2 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -102,6 +102,7 @@ const int PTP_LOG_MIN_DELAY_INTERVAL = 0;
 const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
+
 /// @brief Hardware interface of hesai driver
 class HesaiHwInterface : NebulaHwInterfaceBase
 {
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index e37d42a43..c70bd4400 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -68,7 +68,6 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   auto recv_buf = std::make_shared<std::vector<uint8_t>>();
   auto response_complete = std::make_shared<bool>(false);
 
-  // Low byte is for PTC error code, the rest is nebula-specific
   auto error_code = std::make_shared<ptc_error_t>();
 
   std::stringstream ss;

From 9bdadd2736e23903a6119f78e2649786116a844a Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 15:14:44 +0900
Subject: [PATCH 086/122] fix(hesai_hw_monitor_ros_wrapper): fixed wrong range
 given for S/N copy

---
 ros2_socketcan    | 1 +
 transport_drivers | 1 +
 2 files changed, 2 insertions(+)
 create mode 160000 ros2_socketcan
 create mode 160000 transport_drivers

diff --git a/ros2_socketcan b/ros2_socketcan
new file mode 160000
index 000000000..4ced5284f
--- /dev/null
+++ b/ros2_socketcan
@@ -0,0 +1 @@
+Subproject commit 4ced5284fdd080274b04530406d887e8330a0cdb
diff --git a/transport_drivers b/transport_drivers
new file mode 160000
index 000000000..abf8aa8e1
--- /dev/null
+++ b/transport_drivers
@@ -0,0 +1 @@
+Subproject commit abf8aa8e171f33e0acd6d845c3d795192c964e9c

From 49e03d4b046801dd32fe29fedab2138ae4820456 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 8 Apr 2024 16:26:42 +0900
Subject: [PATCH 087/122] fix(hesai): print uint8, uint16 as numbers

---
 .../nebula_hw_interfaces_hesai/hesai_cmd_response.hpp           | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index 2691def33..a6d78c45e 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -124,7 +124,7 @@ struct HesaiPtpDiagGrandmaster
   {
     os << "clockQuality: " << arg.clockQuality;
     os << ", ";
-    os << "utc_offset: " << static_cast<int>(arg.utc_offset.value());
+    os << "utc_offset: " << arg.utc_offset;
     os << ", ";
     os << "time_flags: " << +arg.time_flags;
     os << ", ";

From bc718eff835aa9741ff1ed5f309d0ed83823d938 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 9 Apr 2024 18:45:41 +0900
Subject: [PATCH 088/122] feat(hesai_ros_wrapper): publish/subscribe to legacy
 pandar_packets on demand

---
 .../hesai_hw_interface.hpp                    |   8 +-
 .../hesai_hw_interface.cpp                    |  70 ++----------
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  52 +++++----
 .../include/nebula_ros/hesai/mt_queue.hpp     |  13 ++-
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 101 +++++++++++++-----
 5 files changed, 124 insertions(+), 120 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 84750bcb2..0bf3a864b 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -104,7 +104,7 @@ const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
 
 /// @brief Hardware interface of hesai driver
-class HesaiHwInterface : NebulaHwInterfaceBase
+class HesaiHwInterface : public NebulaHwInterfaceBase
 {
 private:
   struct ptc_error_t
@@ -122,12 +122,6 @@ class HesaiHwInterface : NebulaHwInterfaceBase
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
   std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
   std::shared_ptr<HesaiSensorConfiguration> sensor_configuration_;
-  std::shared_ptr<HesaiCalibrationConfiguration> calibration_configuration_;
-  size_t azimuth_index_{};
-  size_t mtu_size_{};
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_cloud_ptr_;
-  std::function<bool(size_t)>
-    is_valid_packet_; /*Lambda Function Array to verify proper packet size*/
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index c70bd4400..451b2a9d3 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -17,8 +17,7 @@ HesaiHwInterface::HesaiHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
   m_owned_ctx{new boost::asio::io_context(1)},
   cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)},
-  tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)},
-  scan_cloud_ptr_{std::make_unique<pandar_msgs::msg::PandarScan>()}
+  tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)}
 {
 }
 HesaiHwInterface::~HesaiHwInterface()
@@ -145,63 +144,8 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
 Status HesaiHwInterface::SetSensorConfiguration(
   std::shared_ptr<SensorConfigurationBase> sensor_configuration)
 {
-  HesaiStatus status = Status::OK;
-  mtu_size_ = MTU_SIZE;
-  is_solid_state = false;
-  try {
-    sensor_configuration_ =
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
-    if (
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR40P ||
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR40P) {
-      azimuth_index_ = 2;
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR40_PACKET_SIZE || packet_size == PANDAR40P_EXTENDED_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT64) {
-      azimuth_index_ = 12;  // 12 + 258 * [0-3]
-      is_valid_packet_ = [](size_t packet_size) { return (packet_size == PANDARQT64_PACKET_SIZE); };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT128) {
-      azimuth_index_ = 12;  // 12 + 514 * [0-1]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARQT128_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARXT32) {
-      azimuth_index_ = 12;  // 12 + 130 * [0-7]
-      is_valid_packet_ = [](size_t packet_size) { return (packet_size == PANDARXT32_PACKET_SIZE); };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARXT32M) {
-      azimuth_index_ = 12;  // 12 + 130 * [0-7]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARXT32M_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARAT128) {
-      azimuth_index_ = 12;  // 12 + 4 * 128 * [0-1]
-      is_solid_state = true;
-      is_valid_packet_ = [](size_t packet_size) {
-        return (packet_size == PANDARAT128_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR64) {
-      azimuth_index_ = 8;  // 8 + 192 * [0-5]
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR64_PACKET_SIZE || packet_size == PANDAR64_EXTENDED_PACKET_SIZE);
-      };
-    } else if (sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR128_E4X) {
-      azimuth_index_ = 12;  // 12
-      is_valid_packet_ = [](size_t packet_size) {
-        return (
-          packet_size == PANDAR128_E4X_EXTENDED_PACKET_SIZE ||
-          packet_size == PANDAR128_E4X_PACKET_SIZE);
-      };
-    } else {
-      status = Status::INVALID_SENSOR_MODEL;
-    }
-  } catch (const std::exception & ex) {
-    status = Status::SENSOR_CONFIG_ERROR;
-    std::cerr << status << std::endl;
-    return status;
-  }
+  sensor_configuration_ =
+    std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
   return Status::OK;
 }
 
@@ -246,10 +190,6 @@ Status HesaiHwInterface::RegisterScanCallback(
 
 void HesaiHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
-  // if (!is_valid_packet_(buffer.size())) {
-  //   PrintDebug("Invalid Packet: " + std::to_string(buffer.size()));
-  //   return;
-  // } TODO
   cloud_packet_callback_(buffer);
 }
 Status HesaiHwInterface::SensorInterfaceStop()
@@ -301,7 +241,9 @@ Status HesaiHwInterface::InitializeTcpDriver()
 Status HesaiHwInterface::FinalizeTcpDriver()
 {
   try {
-    tcp_driver_->close();
+    if (tcp_driver_) {
+      tcp_driver_->close();
+    }
   } catch (std::exception & e) {
     PrintError("Error while finalizing the TcpDriver");
     return Status::UDP_CONNECTION_ERROR;
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 2ba2e2407..9c50e20eb 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -16,6 +16,8 @@
 #include <rclcpp_components/register_node_macro.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
@@ -105,6 +107,10 @@ class HesaiRosWrapper final : public rclcpp::Node
   /// @param scan_buffer Received PandarScan
   void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
 
+  /// @brief Callback for receiving replayed, aggregated packets (= scan messages)
+  /// @param scan_msg 
+  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
+
   /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
   /// @param packet_msg The received packet message
   void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
@@ -158,19 +164,23 @@ class HesaiRosWrapper final : public rclcpp::Node
   /// @return Created string
   std::string GetFixedPrecisionString(double val, int pre = 2);
 
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
-  drivers::HesaiHwInterface hw_interface_;
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
+  drivers::HesaiHwInterface hw_interface_{};
 
   Status wrapper_status_;
   Status interface_status_;
 
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
+  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
+
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
 
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_;
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_;
+  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_{};
+  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
+  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
@@ -186,27 +196,27 @@ class HesaiRosWrapper final : public rclcpp::Node
   std::string correction_file_path;
 
   /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_;
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_{};
 
   bool retry_hw_;
   std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
+  OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
 
   diagnostic_updater::Updater diagnostics_updater_;
 
-  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
-  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_;
+  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
+  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
 
-  std::unique_ptr<HesaiLidarStatus> current_status_;
-  std::unique_ptr<HesaiLidarMonitor> current_monitor_;
-  std::unique_ptr<HesaiConfig> current_config_;
-  std::unique_ptr<HesaiInventory> current_inventory_;
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_;
+  std::unique_ptr<HesaiLidarStatus> current_status_{};
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
+  std::unique_ptr<HesaiConfig> current_config_{};
+  std::unique_ptr<HesaiInventory> current_inventory_{};
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
 
-  std::unique_ptr<rclcpp::Time> current_status_time_;
-  std::unique_ptr<rclcpp::Time> current_config_time_;
-  std::unique_ptr<rclcpp::Time> current_inventory_time_;
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_;
+  std::unique_ptr<rclcpp::Time> current_status_time_{};
+  std::unique_ptr<rclcpp::Time> current_config_time_{};
+  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
 
   uint8_t current_diag_status_;
   uint8_t current_monitor_status_;
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 730b54f7c..67b287ddc 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -16,7 +16,7 @@ class mt_queue
 public:
   mt_queue(size_t capacity) : capacity_(capacity) {}
 
-  bool push(T && value)
+  bool try_push(T && value)
   {
     {
       std::unique_lock<std::mutex> lock(this->mutex_);
@@ -29,6 +29,17 @@ class mt_queue
     this->condition_variable_.notify_one();
     return true;
   }
+
+  void push(T && value)
+  {
+    {
+      std::unique_lock<std::mutex> lock(this->mutex_);
+      this->condition_variable_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
+      queue_.push_front(std::move(value));
+    }
+    this->condition_variable_.notify_one();
+  }
+
   T pop()
   {
     std::unique_lock<std::mutex> lock(this->mutex_);
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index f0e6c121a..0fe4e7bd3 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,26 +7,29 @@ namespace ros
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   hw_interface_(),
+  wrapper_status_(Status::NOT_INITIALIZED),
+  interface_status_(Status::NOT_INITIALIZED),
   packet_queue_(3000),
   diagnostics_updater_(this)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  drivers::HesaiSensorConfiguration sensor_configuration;
-  wrapper_status_ = GetParameters(sensor_configuration);
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-  // DeclareRosParameters();
-  // auto sensor_cfg_ptr = GetRosParameters();
+  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>();
+  wrapper_status_ = GetParameters(*sensor_cfg_ptr_);
+
   InitializeHwInterface();
   InitializeDecoder();
-  InitializeHwMonitor();
-  // StreamStart();
-
 
   RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-  StreamStart();
-  hw_interface_.RegisterScanCallback(
-    std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+
+  if (launch_hw_) {
+    InitializeHwMonitor();
+    StreamStart();
+    hw_interface_.RegisterScanCallback(
+      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+  } else {
+    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+  }
 
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
@@ -34,29 +37,31 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 
 Status HesaiRosWrapper::InitializeHwInterface()
 {
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return interface_status_;
-  }
+  interface_status_ = Status::OK;
+
   hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
   hw_interface_.SetSensorConfiguration(
     std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-  
-  Status status;
+  hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
+
+  if (!launch_hw_) {
+    return interface_status_;
+  }
+
   int retry_count = 0;
 
   while (true) {
-    status = hw_interface_.InitializeTcpDriver();
-    if (status == Status::OK || !retry_hw_) {
+    interface_status_ = hw_interface_.InitializeTcpDriver();
+    if (interface_status_ == Status::OK || !retry_hw_) {
       break;
     }
 
     retry_count++;
     std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
     RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
-  };
+  }
 
-  if (status == Status::OK) {
+  if (interface_status_ == Status::OK) {
     try {
       auto inventory = hw_interface_.GetInventory();
       RCLCPP_INFO_STREAM(get_logger(), inventory);
@@ -72,9 +77,12 @@ Status HesaiRosWrapper::InitializeHwInterface()
     RCLCPP_ERROR_STREAM(
       get_logger(),
       "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
-    hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
   }
 
+  pandar_scan_pub_ =
+    create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+  current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+
   return Status::OK;
 }
 
@@ -191,13 +199,32 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
   // delay.tick(msg_ptr->stamp);
 
   // publish.tick();
-  if (!packet_queue_.push(std::move(msg_ptr))) {
+  if (!packet_queue_.try_push(std::move(msg_ptr))) {
     RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();
 }
 
+void HesaiRosWrapper::ReceiveScanMessageCallback(
+  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
+{
+  if (launch_hw_) {
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 1000,
+      "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+    return;
+  }
+
+  for (auto & pkt : scan_msg->packets) {
+    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+    nebula_pkt_ptr->stamp = pkt.stamp;
+    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
+
+    packet_queue_.push(std::move(nebula_pkt_ptr));
+  }
+}
+
 void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
   // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
@@ -207,6 +234,22 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
 
   // delay.tick(packet_msg->stamp);
 
+  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
+  if (
+    pandar_scan_pub_ &&
+    (pandar_scan_pub_->get_subscription_count() > 0 ||
+    pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
+    if (current_scan_msg_->packets.size() == 0) {
+      current_scan_msg_->header.stamp = packet_msg->stamp;
+    }
+
+    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
+    pandar_packet_msg.stamp = packet_msg->stamp;
+    pandar_packet_msg.size = packet_msg->data.size();
+    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
+    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
+  }
+
   // parse.tick();
   std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
     driver_ptr_->ParseCloudPacket(packet_msg->data);
@@ -218,6 +261,13 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
     // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
     return;
   };
+
+  // Publish scan message only if it has been written to
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
+    pandar_scan_pub_->publish(std::move(current_scan_msg_));
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+  }
+
   if (
     nebula_points_pub_->get_subscription_count() > 0 ||
     nebula_points_pub_->get_intra_process_subscription_count() > 0) {
@@ -577,11 +627,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_cfg_ptr =
-    std::make_shared<drivers::HesaiSensorConfiguration>(sensor_configuration);
-
   hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr));
+    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
 
   RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
   return Status::OK;

From 4ff887850963d5b070c944e015bece66d9eb3311 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 9 Apr 2024 18:46:05 +0900
Subject: [PATCH 089/122] change launch file back to single-threaded container

---
 nebula_ros/launch/hesai_launch_all_hw.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index b7c1459ec..1bd285766 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,7 +33,7 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
-    <node_container pkg="rclcpp_components" exec="component_container_mt" name="nebula_container" 
+    <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container" 
         output="screen" ros_args="--log-level $(var debug_level)" namespace="">
         <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"
                name="nebula_hesai">

From 8fb516e2443338bb786d2a6f7b15239efc3c2b98 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 10 Apr 2024 12:23:36 +0900
Subject: [PATCH 090/122] attempt to make queue contention less bad

---
 .../include/nebula_ros/hesai/mt_queue.hpp     | 37 +++++++++++--------
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 12 ++++--
 2 files changed, 30 insertions(+), 19 deletions(-)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index 67b287ddc..a259a80ba 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -9,7 +9,7 @@ class mt_queue
 {
 private:
   std::mutex mutex_;
-  std::condition_variable condition_variable_;
+  std::condition_variable cv_not_empty_, cv_not_full_;
   std::deque<T> queue_;
   size_t capacity_;
 
@@ -18,34 +18,39 @@ class mt_queue
 
   bool try_push(T && value)
   {
-    {
-      std::unique_lock<std::mutex> lock(this->mutex_);
-      if (queue_.size() == capacity_) {
-        return false;
-      }
-
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    bool can_push = queue_.size() < capacity_;
+    if (can_push) {
       queue_.push_front(std::move(value));
     }
-    this->condition_variable_.notify_one();
-    return true;
+    this->cv_not_empty_.notify_all();
+    return can_push;
   }
 
   void push(T && value)
   {
-    {
-      std::unique_lock<std::mutex> lock(this->mutex_);
-      this->condition_variable_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
-      queue_.push_front(std::move(value));
-    }
-    this->condition_variable_.notify_one();
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->cv_not_full_.wait(lock, [=] { return this->queue_.size() < this->capacity_; });
+    queue_.push_front(std::move(value));
+    this->cv_not_empty_.notify_all();
   }
 
   T pop()
   {
     std::unique_lock<std::mutex> lock(this->mutex_);
-    this->condition_variable_.wait(lock, [=] { return !this->queue_.empty(); });
+    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
     T return_value(std::move(this->queue_.back()));
     this->queue_.pop_back();
+    this->cv_not_full_.notify_all();
+
     return return_value;
   }
+
+  void pop_all(std::deque<T> & dest) {
+    std::unique_lock<std::mutex> lock(this->mutex_);
+    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
+    dest.insert(dest.end(), std::make_move_iterator(queue_.begin()), std::make_move_iterator(queue_.end()));
+    this->queue_.clear();
+    this->cv_not_full_.notify_all();
+  }
 };
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 0fe4e7bd3..6fdc46a1a 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -104,9 +104,15 @@ Status HesaiRosWrapper::InitializeDecoder()
     rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
   decoder_thread_ = std::thread([this]() {
+    std::deque<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> received{};
     while (true) {
-      auto pkt = packet_queue_.pop();
-      this->ProcessCloudPacket(std::move(pkt));
+      packet_queue_.pop_all(received);
+
+      while (!received.empty()) {
+        auto pkt = std::move(received.back());
+        received.pop_back();
+        this->ProcessCloudPacket(std::move(pkt));
+      }
     }
   });
 
@@ -200,7 +206,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 
   // publish.tick();
   if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packets dropped");
+    RCLCPP_ERROR(get_logger(), "Packet dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();

From a0631bdf053ffbc40464020e69d4566bf7ab6319 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 11 Apr 2024 19:00:25 +0900
Subject: [PATCH 091/122] chore(hesai_ros_wrapper): reduce logging output

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 6fdc46a1a..7a0bf34f0 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -206,7 +206,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 
   // publish.tick();
   if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR(get_logger(), "Packet dropped");
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
   // packet_pub_->publish(std::move(msg_ptr));
   // publish.tock();

From 43fad4659989351b439a19f2d65d1edf18c09895 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 11 Apr 2024 19:18:35 +0900
Subject: [PATCH 092/122] feat(hesai_ros_wrapper): print warning when connected
 to HW and receiving /pandar_packets

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 7a0bf34f0..23205ea64 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -27,10 +27,11 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     StreamStart();
     hw_interface_.RegisterScanCallback(
       std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  } else {
-    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
   }
 
+  packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), 
+    std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 }
@@ -104,15 +105,8 @@ Status HesaiRosWrapper::InitializeDecoder()
     rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
   decoder_thread_ = std::thread([this]() {
-    std::deque<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> received{};
     while (true) {
-      packet_queue_.pop_all(received);
-
-      while (!received.empty()) {
-        auto pkt = std::move(received.back());
-        received.pop_back();
-        this->ProcessCloudPacket(std::move(pkt));
-      }
+        this->ProcessCloudPacket(std::move(packet_queue_.pop()));
     }
   });
 
@@ -242,7 +236,7 @@ void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::Nebul
 
   // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
   if (
-    pandar_scan_pub_ &&
+    launch_hw_ &&
     (pandar_scan_pub_->get_subscription_count() > 0 ||
     pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
     if (current_scan_msg_->packets.size() == 0) {

From 243fc7528f194693cd9d5521c4273e5296ca4f77 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Fri, 12 Apr 2024 14:43:27 +0900
Subject: [PATCH 093/122] feat(nebula_launch.py): throw error when trying to
 launch Hesai sensor and refer to hesai_launch_all_hw.xml

---
 nebula_ros/launch/nebula_launch.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py
index b394498fb..74d3eb475 100644
--- a/nebula_ros/launch/nebula_launch.py
+++ b/nebula_ros/launch/nebula_launch.py
@@ -41,8 +41,11 @@ def launch_setup(context, *args, **kwargs):
     # Model and make
     sensor_model = LaunchConfiguration("sensor_model").perform(context)
     calibration_file = LaunchConfiguration("calibration_file").perform(context)
-    correction_file = LaunchConfiguration("correction_file").perform(context)
     sensor_make, sensor_extension = get_sensor_make(sensor_model)
+
+    if sensor_make.lower() == "hesai":
+        raise ValueError("\n  `nebula_launch.py` is deprecated. For Hesai sensors, use `hesai_launch_all_hw.xml` instead.")
+
     nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
     nebula_ros_share_dir = get_package_share_directory("nebula_ros")
 
@@ -84,7 +87,6 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_corr_fp,
                         "setup_sensor": LaunchConfiguration("setup_sensor"),
                         "ptp_profile": LaunchConfiguration("ptp_profile"),
                         "ptp_domain": LaunchConfiguration("ptp_domain"),
@@ -110,7 +112,6 @@ def launch_setup(context, *args, **kwargs):
                         "sensor_ip": LaunchConfiguration("sensor_ip"),
                         "return_mode": LaunchConfiguration("return_mode"),
                         "calibration_file": calibration_file or sensor_calib_fp,
-                        "correction_file": correction_file or sensor_corr_fp,
                     },
                 ],
             )
@@ -127,7 +128,6 @@ def launch_setup(context, *args, **kwargs):
                     "sensor_ip": LaunchConfiguration("sensor_ip"),
                     "return_mode": LaunchConfiguration("return_mode"),
                     "calibration_file": calibration_file or sensor_calib_fp,
-                    "correction_file": correction_file or sensor_corr_fp,
                     "launch_hw": LaunchConfiguration("launch_hw"),
                     "ptp_profile": LaunchConfiguration("ptp_profile"),
                     "ptp_domain": LaunchConfiguration("ptp_domain"),

From 2c14f48ce91459857bce080c3c6ee1b58772d521 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:38:39 +0900
Subject: [PATCH 094/122] refactor(nebula_ros): split single wrapper file into
 3 sub-wrappers

---
 .cspell.json                                  |   27 +-
 .../nebula_common/hesai/hesai_common.hpp      |   35 +-
 .../include/nebula_common/util/expected.hpp   |    5 +-
 .../decoders/hesai_packet.hpp                 |    2 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |   15 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    |   55 +-
 .../hesai_hw_interface.cpp                    |   24 +-
 nebula_ros/CMakeLists.txt                     |    4 +
 .../nebula_ros/hesai/decoder_wrapper.hpp      |   66 +
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  181 +--
 .../nebula_ros/hesai/hw_interface_wrapper.hpp |   32 +
 .../nebula_ros/hesai/hw_monitor_wrapper.hpp   |   95 ++
 .../include/nebula_ros/hesai/mt_queue.hpp     |    9 +-
 nebula_ros/package.xml                        |    1 +
 nebula_ros/src/hesai/decoder_wrapper.cpp      |  255 ++++
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 1159 +++--------------
 nebula_ros/src/hesai/hw_interface_wrapper.cpp |   94 ++
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp   |  412 ++++++
 18 files changed, 1268 insertions(+), 1203 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
 create mode 100644 nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
 create mode 100644 nebula_ros/src/hesai/decoder_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hw_interface_wrapper.cpp
 create mode 100644 nebula_ros/src/hesai/hw_monitor_wrapper.cpp

diff --git a/.cspell.json b/.cspell.json
index 75b26f454..5265d4bf1 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -6,14 +6,26 @@
     "adctp",
     "Adctp",
     "AT",
+    "autosar",
     "block_id",
+    "Bpearl",
+    "calib",
+    "DHAVE",
+    "Difop",
     "extrinsics",
     "gprmc",
+    "gptp",
+    "Helios",
     "Hesai",
+    "Idat",
+    "ipaddr",
+    "manc",
     "memcpy",
     "mkdoxy",
+    "Msop",
     "nohup",
     "nproc",
+    "ntoa",
     "pandar",
     "PANDAR",
     "PANDARAT",
@@ -23,6 +35,7 @@
     "QT",
     "rclcpp",
     "schedutil",
+    "srvs",
     "STD_COUT",
     "stds",
     "struct",
@@ -30,21 +43,9 @@
     "UDP_SEQ",
     "vccint",
     "Vccint",
+    "Vdat",
     "XT",
     "XTM",
-    "DHAVE",
-    "Bpearl",
-    "Helios",
-    "Msop",
-    "Difop",
-    "gptp",
-    "Idat",
-    "Vdat",
-    "autosar",
-    "srvs",
-    "manc",
-    "ipaddr",
-    "ntoa",
     "piyushk",
     "Piyush",
     "fout"
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
index 9c6e5d555..0c7ae1c1b 100644
--- a/nebula_common/include/nebula_common/hesai/hesai_common.hpp
+++ b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -14,7 +14,7 @@ namespace nebula
 namespace drivers
 {
 /// @brief struct for Hesai sensor configuration
-struct HesaiSensorConfiguration : LidarConfigurationBase
+struct HesaiSensorConfiguration : public LidarConfigurationBase
 {
   uint16_t gnss_port{};
   double scan_phase{};
@@ -43,13 +43,20 @@ inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration con
   return os;
 }
 
+struct HesaiCalibrationConfigurationBase : public CalibrationConfigurationBase
+{
+  virtual nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) = 0;
+  virtual nebula::Status LoadFromFile(const std::string & calibration_file) = 0;
+  virtual nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) = 0;
+};
+
 /// @brief struct for Hesai calibration configuration
-struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
+struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
 {
   std::map<size_t, float> elev_angle_map;
   std::map<size_t, float> azimuth_offset_map;
 
-  inline nebula::Status LoadFromFile(const std::string & calibration_file)
+  inline nebula::Status LoadFromFile(const std::string & calibration_file) override
   {
     std::ifstream ifs(calibration_file);
     if (!ifs) {
@@ -61,6 +68,11 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
     return LoadFromString(ss.str());
   }
 
+  nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) {
+    std::string calibration_string = std::string(buf.begin(), buf.end());
+    return LoadFromString(calibration_string);
+  }
+
   /// @brief Loading calibration data
   /// @param calibration_content
   /// @return Resulting status
@@ -99,7 +111,7 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
   /// @brief Saving calibration data (not used)
   /// @param calibration_file
   /// @return Resulting status
-  inline nebula::Status SaveFile(const std::string & calibration_file)
+  inline nebula::Status SaveToFile(const std::string & calibration_file)
   {
     std::ofstream ofs(calibration_file);
     if (!ofs) {
@@ -117,6 +129,11 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
     return Status::OK;
   }
 
+  nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) override {
+    std::string calibration_string = std::string(buf.begin(), buf.end());
+    return SaveFileFromString(calibration_file, calibration_string);
+  }
+
   /// @brief Saving calibration data from string
   /// @param calibration_file path
   /// @param calibration_string calibration string
@@ -134,7 +151,7 @@ struct HesaiCalibrationConfiguration : CalibrationConfigurationBase
 };
 
 /// @brief struct for Hesai correction configuration (for AT)
-struct HesaiCorrection
+struct HesaiCorrection : public HesaiCalibrationConfigurationBase
 {
   uint16_t delimiter;
   uint8_t versionMajor;
@@ -156,7 +173,7 @@ struct HesaiCorrection
   /// @brief Load correction data from file
   /// @param buf Binary buffer
   /// @return Resulting status
-  inline nebula::Status LoadFromBinary(const std::vector<uint8_t> & buf)
+  inline nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) override
   {
     size_t index;
     for (index = 0; index < buf.size()-1; index++) {
@@ -258,7 +275,7 @@ struct HesaiCorrection
   /// @brief Load correction data from file
   /// @param correction_file path
   /// @return Resulting status
-  inline nebula::Status LoadFromFile(const std::string & correction_file)
+  inline nebula::Status LoadFromFile(const std::string & correction_file) override
   {
     std::ifstream ifs(correction_file, std::ios::in | std::ios::binary);
     if (!ifs) {
@@ -271,7 +288,7 @@ struct HesaiCorrection
       ifs.read((char *)&c, sizeof(unsigned char));
       buf.emplace_back(c);
     }
-    LoadFromBinary(buf);
+    LoadFromBytes(buf);
 
     ifs.close();
     return Status::OK;
@@ -281,7 +298,7 @@ struct HesaiCorrection
   /// @param correction_file path
   /// @param buf correction binary
   /// @return Resulting status
-  inline nebula::Status SaveFileFromBinary(const std::string & correction_file, const std::vector<uint8_t> & buf)
+  inline nebula::Status SaveToFileFromBytes(const std::string & correction_file, const std::vector<uint8_t> & buf) override
   {
     std::cerr << "Saving in:" << correction_file << "\n";
     std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index d3643cfb4..0f47e9de1 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -54,8 +54,9 @@ struct expected
     return default_;
   }
 
-  /// @brief Return the contained value, or, if an error is contained, throw `runtime_error(error_msg)`.
-  /// @return The contained value if no error is thrown
+  /// @brief If the instance has a value, return the value, else throw std::runtime_error(error_msg)
+  /// @param error_msg The message to be included in the thrown exception
+  /// @return The value
   T value_or_throw(const std::string & error_msg) {
     if (has_value()) return value();
     throw std::runtime_error(error_msg);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
index 730888c91..0280f1ff7 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
@@ -190,7 +190,7 @@ struct PacketBase
 /// @brief Get the number of returns for a given return mode
 /// @param return_mode The return mode
 /// @return The number of returns
-int get_n_returns(uint8_t return_mode)
+inline int get_n_returns(uint8_t return_mode)
 {
   switch (return_mode) {
     case return_mode::SINGLE_FIRST:
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index a3f37cd32..5ee9892d4 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -34,12 +34,11 @@ class HesaiDriver : NebulaDriverBase
   HesaiDriver() = delete;
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver (for AT)
+  /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
+  /// for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-    const std::shared_ptr<drivers::HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<drivers::HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<drivers::HesaiCorrection> & correction_configuration = nullptr);
+      const std::shared_ptr<drivers::HesaiSensorConfiguration>& sensor_configuration,
+      const std::shared_ptr<drivers::CalibrationConfigurationBase>& calibration_configuration = nullptr);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -48,14 +47,12 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(
-    const CalibrationConfigurationBase & calibration_configuration) override;
+  Status SetCalibrationConfiguration(const CalibrationConfigurationBase& calibration_configuration) override;
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
-    const std::vector<uint8_t> & packet);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(const std::vector<uint8_t>& packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 61b969ed7..27624a469 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,53 +17,56 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(
-  const std::shared_ptr<HesaiSensorConfiguration> & sensor_configuration,
-  const std::shared_ptr<HesaiCalibrationConfiguration> & calibration_configuration,
-  const std::shared_ptr<HesaiCorrection> & correction_configuration)
+HesaiDriver::HesaiDriver(const std::shared_ptr<HesaiSensorConfiguration>& sensor_configuration,
+                         const std::shared_ptr<CalibrationConfigurationBase>& calibration_configuration)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
-  switch (sensor_configuration->sensor_model) {
+
+  std::shared_ptr<HesaiCalibrationConfiguration> calibration = nullptr;
+  std::shared_ptr<HesaiCorrection> correction = nullptr;
+
+  if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
+  {
+    correction = std::static_pointer_cast<HesaiCorrection>(calibration_configuration);
+  }
+  else
+  {
+    calibration = std::static_pointer_cast<HesaiCalibrationConfiguration>(calibration_configuration);
+  }
+
+  switch (sensor_configuration->sensor_model)
+  {
     case SensorModel::UNKNOWN:
       driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
       break;
     case SensorModel::HESAI_PANDAR64:
-      scan_decoder_.reset(new HesaiDecoder<Pandar64>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar64>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR40P:
     case SensorModel::HESAI_PANDAR40M:
-      scan_decoder_.reset(new HesaiDecoder<Pandar40>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar40>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARQT64:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARQT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARXT32:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARXT32M:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDARAT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR128_E3X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(sensor_configuration, calibration, correction));
       break;
     case SensorModel::HESAI_PANDAR128_E4X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(
-        sensor_configuration, calibration_configuration, correction_configuration));
+      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(sensor_configuration, calibration, correction));
       break;
     default:
       driver_status_ = nebula::Status::NOT_INITIALIZED;
@@ -78,13 +81,15 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
   auto logger = rclcpp::get_logger("HesaiDriver");
 
-  if (driver_status_ != nebula::Status::OK) {
+  if (driver_status_ != nebula::Status::OK)
+  {
     RCLCPP_ERROR(logger, "Driver not OK.");
     return pointcloud;
   }
 
   scan_decoder_->unpack(packet);
-  if (scan_decoder_->hasScanned()) {
+  if (scan_decoder_->hasScanned())
+  {
     pointcloud = scan_decoder_->getPointcloud();
   }
 
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 451b2a9d3..5a40b6b60 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -22,29 +22,7 @@ HesaiHwInterface::HesaiHwInterface()
 }
 HesaiHwInterface::~HesaiHwInterface()
 {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << ".......................st: HesaiHwInterface::~HesaiHwInterface()" << std::endl;
-#endif
-  if (tcp_driver_) {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    std::cout << ".......................tcp_driver_ is available" << std::endl;
-#endif
-    if (tcp_driver_ && tcp_driver_->isOpen()) {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-      std::cout << ".......................st: tcp_driver_->close();" << std::endl;
-#endif
-      tcp_driver_->close();
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-      std::cout << ".......................ed: tcp_driver_->close();" << std::endl;
-#endif
-    }
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    std::cout << ".......................ed: if(tcp_driver_)" << std::endl;
-#endif
-  }
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << ".......................ed: HesaiHwInterface::~HesaiHwInterface()" << std::endl;
-#endif
+  FinalizeTcpDriver();
 }
 
 HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index 1bd697624..b11339765 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(nebula_hw_interfaces REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
 find_package(nebula_msgs REQUIRED)
+find_package(pandar_msgs REQUIRED)
 
 include_directories(
         include
@@ -36,6 +37,9 @@ link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES})
 ## Hesai
 ament_auto_add_library(hesai_ros_wrapper SHARED
         src/hesai/hesai_ros_wrapper.cpp
+        src/hesai/decoder_wrapper.cpp
+        src/hesai/hw_interface_wrapper.cpp
+        src/hesai/hw_monitor_wrapper.cpp
         )
 
 rclcpp_components_register_node(hesai_ros_wrapper
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
new file mode 100644
index 000000000..262c16839
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -0,0 +1,66 @@
+#pragma once
+
+#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+
+#include <nebula_common/nebula_common.hpp>
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include "nebula_msgs/msg/nebula_packet.hpp"
+#include "pandar_msgs/msg/pandar_packet.hpp"
+#include "pandar_msgs/msg/pandar_scan.hpp"
+
+#include <memory>
+#include <filesystem>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiDecoderWrapper
+{
+public:
+  HesaiDecoderWrapper(rclcpp::Node* const parent_node,
+                      const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                      std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
+  GetCalibrationData();
+
+  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+
+  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+
+  nebula::Status Status();
+
+private:
+  /// @brief Convert seconds to chrono::nanoseconds
+  /// @param seconds
+  /// @return chrono::nanoseconds
+  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
+  {
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(seconds));
+  }
+
+  nebula::Status status_;
+  rclcpp::Logger logger_;
+
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
+  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
+
+  std::string calibration_file_path_{};
+  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_{};
+
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+
+  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
+  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
+
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 9c50e20eb..e037bce40 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -4,29 +4,27 @@
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
-// #include "nebula_common/util/instrumentation.hpp"
-// #include "nebula_common/util/topic_delay.hpp"
-#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/hesai/decoder_wrapper.hpp"
+#include "nebula_ros/hesai/hw_interface_wrapper.hpp"
+#include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
 #include "nebula_ros/hesai/mt_queue.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
-#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
 
 #include <boost/algorithm/string/join.hpp>
 #include <boost/asio.hpp>
 #include <boost/lexical_cast.hpp>
 
+#include <array>
 #include <chrono>
 #include <mutex>
+#include <optional>
 #include <thread>
-#include <array>
 
 namespace nebula
 {
@@ -40,12 +38,12 @@ namespace ros
 /// @param value Corresponding value
 /// @return Whether the target name existed
 template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
+bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
 {
-  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
-    return parameter.get_name() == name;
-  });
-  if (it != p.cend()) {
+  auto it = std::find_if(p.cbegin(), p.cend(),
+                         [&name](const rclcpp::Parameter& parameter) { return parameter.get_name() == name; });
+  if (it != p.cend())
+  {
     value = it->template get_value<T>();
     return true;
   }
@@ -56,8 +54,8 @@ bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & nam
 class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
-  explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
-  ~HesaiRosWrapper();
+  explicit HesaiRosWrapper(const rclcpp::NodeOptions& options);
+  ~HesaiRosWrapper() noexcept;
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -68,172 +66,45 @@ class HesaiRosWrapper final : public rclcpp::Node
   Status StreamStart();
 
 private:
-  Status InitializeHwInterface();
-  Status InitializeDecoder();
-  Status InitializeHwMonitor();
+  void ReceiveCloudPacketCallback(std::vector<uint8_t>& packet);
+
+  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
+
+  Status DeclareAndGetSensorConfigParams();
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
   /// @return Resulting status
-  Status GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration);
-
-  /// @brief Get calibration data from the sensor
-  /// @param calibration_configuration Output of CalibrationConfiguration
-  /// @param correction_configuration Output of CorrectionConfiguration (for AT)
-  /// @return Resulting status
-  Status GetCalibrationData(
-    drivers::HesaiCalibrationConfiguration & calibration_configuration,
-    drivers::HesaiCorrection & correction_configuration);
-
-  /// @brief Convert seconds to chrono::nanoseconds
-  /// @param seconds
-  /// @return chrono::nanoseconds
-  static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
-  {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(
-      std::chrono::duration<double>(seconds));
-  }
-
-  /***
-   * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher
-   * @param pointcloud unique pointer containing the point cloud to publish
-   * @param publisher
-   */
-  void PublishCloud(
-    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
-
-  /// @brief Callback for receiving a raw UDP packet
-  /// @param scan_buffer Received PandarScan
-  void ReceiveCloudPacketCallback(std::vector<uint8_t> & scan_buffer);
-
-  /// @brief Callback for receiving replayed, aggregated packets (= scan messages)
-  /// @param scan_msg 
-  void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
-
-  /// @brief Decodes a nebula packet and, if it completes the scan, publishes the pointcloud.
-  /// @param packet_msg The received packet message
-  void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
+  Status DeclareAndGetWrapperParams();
 
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(
-    const std::vector<rclcpp::Parameter> & parameters);
+  rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter>& parameters);
+
   /// @brief Updating rclcpp parameter
   /// @return SetParametersResult
   std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
 
-  /// @brief Initializing diagnostics
-  void InitializeHesaiDiagnostics();
-  /// @brief Callback of the timer for getting the current lidar status
-  void OnHesaiStatusTimer();
-  /// @brief Callback of the timer for getting the current lidar monitor via http
-  void OnHesaiLidarMonitorTimerHttp();
-  /// @brief Callback of the timer for getting the current lidar monitor via tcp
-  void OnHesaiLidarMonitorTimer();
-  //  void OnHesaiDiagnosticsTimer();
-  //  void OnHesaiStatusTimer();
-
-  /// @brief Check status information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check ptp information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check temperature information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check rpm information from HesaiLidarStatus for diagnostic_updater
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via http
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Check voltage information from HesaiLidarStatus for diagnostic_updater via tcp
-  /// @param diagnostics DiagnosticStatusWrapper
-  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
-  /// @brief Get value from property_tree
-  /// @param pt property_tree
-  /// @param key Pey string
-  /// @return Value
-  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
-  /// @brief Making fixed precision string
-  /// @param val Target value
-  /// @param pre Precision
-  /// @return Created string
-  std::string GetFixedPrecisionString(double val, int pre = 2);
-
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
-  drivers::HesaiHwInterface hw_interface_{};
-
   Status wrapper_status_;
-  Status interface_status_;
 
-  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
-  pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
-
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
-
-  std::shared_ptr<drivers::HesaiCalibrationConfiguration> calibration_cfg_ptr_{};
-  std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
-  std::shared_ptr<drivers::HesaiCorrection> correction_cfg_ptr_{};
+  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
   /// @brief Thread to isolate decoding from receiving
   std::thread decoder_thread_;
 
-  // todo: temporary class member during single node refactoring
-  bool launch_hw_;
+  rclcpp::Subscription<pandar_msgs::msg::PandarScan>::SharedPtr packets_sub_{};
 
-  // todo: temporary class member during single node refactoring
-  std::string calibration_file_path;
-  /// @brief File path of Correction data (Only required only for AT)
-  std::string correction_file_path;
+  bool launch_hw_;
 
-  /// @brief Received Hesai message publisher
-  rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr pandar_scan_pub_{};
+  std::optional<HesaiHwInterfaceWrapper> hw_interface_wrapper_;
+  std::optional<HesaiHwMonitorWrapper> hw_monitor_wrapper_;
+  std::optional<HesaiDecoderWrapper> decoder_wrapper_;
 
-  bool retry_hw_;
   std::mutex mtx_config_;
   OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
-
-  diagnostic_updater::Updater diagnostics_updater_;
-
-  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
-  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
-
-  std::unique_ptr<HesaiLidarStatus> current_status_{};
-  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
-  std::unique_ptr<HesaiConfig> current_config_{};
-  std::unique_ptr<HesaiInventory> current_inventory_{};
-  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
-
-  std::unique_ptr<rclcpp::Time> current_status_time_{};
-  std::unique_ptr<rclcpp::Time> current_config_time_{};
-  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
-  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
-
-  uint8_t current_diag_status_;
-  uint8_t current_monitor_status_;
-
-  uint16_t diag_span_;
-  std::mutex mtx_lidar_status_;
-  std::mutex mtx_lidar_monitor_;
-
-  std::string info_model_;
-  std::string info_serial_;
-
-  std::vector<std::string> temperature_names_;
-
-  bool setup_sensor;
-  const std::string MSG_NOT_SUPPORTED = "Not supported";
-  const std::string MSG_ERROR = "Error";
-  const std::string MSG_SEP = ": ";
 };
 
 }  // namespace ros
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
new file mode 100644
index 000000000..30f069c99
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiHwInterfaceWrapper
+{
+public:
+  HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
+                          std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::Status InitializeHwInterface();
+
+  nebula::Status Status();
+
+  std::shared_ptr<drivers::HesaiHwInterface> HwInterface() const;
+
+private:
+  std::shared_ptr<drivers::HesaiHwInterface> hw_interface_;
+  rclcpp::Logger logger_;
+  nebula::Status status_;
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
new file mode 100644
index 000000000..5ddfc9e79
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <boost/asio.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/property_tree/ptree.hpp>
+
+#include <array>
+#include <memory>
+
+namespace nebula
+{
+namespace ros
+{
+class HesaiHwMonitorWrapper
+{
+public:
+  HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
+                        const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                        std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+
+  nebula::Status InitializeHwMonitor();
+
+  void InitializeHesaiDiagnostics();
+
+  std::string GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key);
+
+  std::string GetFixedPrecisionString(double val, int pre);
+
+  void OnHesaiStatusTimer();
+
+  void OnHesaiLidarMonitorTimerHttp();
+
+  void OnHesaiLidarMonitorTimer();
+
+  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+
+  nebula::Status Status();
+
+private:
+  rclcpp::Logger logger_;
+  diagnostic_updater::Updater diagnostics_updater_;
+  nebula::Status status_;
+
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
+  rclcpp::Node* const parent_node_;
+
+  uint16_t diag_span_;
+  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
+  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};
+
+  std::unique_ptr<HesaiLidarStatus> current_status_{};
+  std::unique_ptr<HesaiLidarMonitor> current_monitor_{};
+  std::unique_ptr<HesaiConfig> current_config_{};
+  std::unique_ptr<HesaiInventory> current_inventory_{};
+  std::unique_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};
+
+  std::unique_ptr<rclcpp::Time> current_status_time_{};
+  std::unique_ptr<rclcpp::Time> current_config_time_{};
+  std::unique_ptr<rclcpp::Time> current_inventory_time_{};
+  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};
+
+  uint8_t current_diag_status_;
+  uint8_t current_monitor_status_;
+
+  std::mutex mtx_lidar_status_;
+  std::mutex mtx_lidar_monitor_;
+
+  std::string info_model_;
+  std::string info_serial_;
+
+  std::vector<std::string> temperature_names_;
+
+  bool setup_sensor;
+  const std::string MSG_NOT_SUPPORTED = "Not supported";
+  const std::string MSG_ERROR = "Error";
+  const std::string MSG_SEP = ": ";
+};
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
index a259a80ba..d60b7b4db 100644
--- a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
@@ -3,6 +3,7 @@
 #include <condition_variable>
 #include <deque>
 #include <mutex>
+#include <chrono>
 
 template <typename T>
 class mt_queue
@@ -45,12 +46,4 @@ class mt_queue
 
     return return_value;
   }
-
-  void pop_all(std::deque<T> & dest) {
-    std::unique_lock<std::mutex> lock(this->mutex_);
-    this->cv_not_empty_.wait(lock, [=] { return !this->queue_.empty(); });
-    dest.insert(dest.end(), std::make_move_iterator(queue_.begin()), std::make_move_iterator(queue_.end()));
-    this->queue_.clear();
-    this->cv_not_full_.notify_all();
-  }
 };
\ No newline at end of file
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index 54df70ea9..e918afdc7 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -32,6 +32,7 @@
   <depend>visualization_msgs</depend>
   <depend>yaml-cpp</depend>
   <depend>nebula_msgs</depend>
+  <depend>pandar_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
new file mode 100644
index 000000000..1ae6d2837
--- /dev/null
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -0,0 +1,255 @@
+#include "nebula_ros/hesai/decoder_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
+                                         const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                                         std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : status_(nebula::Status::NOT_INITIALIZED)
+  , logger_(parent_node->get_logger().get_child("HesaiDecoder"))
+  , hw_interface_(hw_interface)
+  , sensor_cfg_(config)
+{
+  if (!config)
+  {
+    throw std::runtime_error("HesaiDecoderWrapper cannot be instantiated without a valid config!");
+  }
+
+  if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<std::string>("correction_file", "", descriptor);
+    calibration_file_path_ = parent_node->get_parameter("correction_file").as_string();
+  }
+  else
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<std::string>("calibration_file", "", descriptor);
+    calibration_file_path_ = parent_node->get_parameter("calibration_file").as_string();
+  }
+
+  auto calibration_result = GetCalibrationData();
+
+  if (!calibration_result.has_value())
+  {
+    throw std::runtime_error(
+        (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+  }
+
+  calibration_cfg_ptr_ = calibration_result.value();
+  RCLCPP_INFO_STREAM(logger_, "Using calibration data from " << calibration_cfg_ptr_->calibration_file);
+
+  RCLCPP_INFO(logger_, "Starting Decoder");
+
+  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(config, calibration_cfg_ptr_);
+  status_ = driver_ptr_->GetStatus();
+
+  if (Status::OK != status_)
+  {
+    throw std::runtime_error((std::stringstream() << "Error instantiating decoder: " << status_).str());
+  }
+
+  // Publish packets only if HW interface is connected
+  if (hw_interface_)
+  {
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+    packets_pub_ =
+        parent_node->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+  }
+
+  auto qos_profile = rmw_qos_profile_sensor_data;
+  auto pointcloud_qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+
+  nebula_points_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
+  aw_points_base_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+
+  RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
+}
+
+nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
+HesaiDecoderWrapper::GetCalibrationData()
+{
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calib;
+
+  if (sensor_cfg_->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
+  {
+    calib = std::make_shared<drivers::HesaiCorrection>();
+  }
+  else
+  {
+    calib = std::make_shared<drivers::HesaiCalibrationConfiguration>();
+  }
+
+  bool hw_connected = hw_interface_ != nullptr;
+  std::string calibration_file_path_from_sensor;
+
+  {
+    int ext_pos = calibration_file_path_.find_last_of('.');
+    calibration_file_path_from_sensor = calibration_file_path_.substr(0, ext_pos);
+    // TODO: if multiple different sensors of the same type are used, this will mix up their calibration data
+    calibration_file_path_from_sensor += "_from_sensor";
+    calibration_file_path_from_sensor +=
+        calibration_file_path_.substr(ext_pos, calibration_file_path_.size() - ext_pos);
+  }
+
+  // If a sensor is connected, try to download and save its calibration data
+  if (hw_connected)
+  {
+    try
+    {
+      auto raw_data = hw_interface_->GetLidarCalibrationBytes();
+      RCLCPP_INFO(logger_, "Downloaded calibration data from sensor.");
+      auto status = calib->SaveToFileFromBytes(calibration_file_path_from_sensor, raw_data);
+      if (status != Status::OK)
+      {
+        RCLCPP_ERROR_STREAM(logger_, "Could not save calibration data: " << status);
+      }
+      else
+      {
+        RCLCPP_INFO_STREAM(logger_, "Saved downloaded data to " << calibration_file_path_from_sensor);
+      }
+    }
+    catch (std::runtime_error& e)
+    {
+      RCLCPP_ERROR_STREAM(logger_, "Could not download calibration data: " << e.what());
+    }
+  }
+
+  // If saved calibration data from a sensor exists (either just downloaded above, or previously), try to load it
+  if (std::filesystem::exists(calibration_file_path_from_sensor))
+  {
+    auto status = calib->LoadFromFile(calibration_file_path_from_sensor);
+    if (status == Status::OK)
+    {
+      calib->calibration_file = calibration_file_path_from_sensor;
+      return calib;
+    }
+
+    RCLCPP_ERROR_STREAM(logger_, "Could not load downloaded calibration data: " << status);
+  }
+  else
+  {
+    RCLCPP_ERROR(logger_, "No downloaded calibration data found.");
+  }
+
+  RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+
+  // If downloaded data did not exist or could not be loaded, fall back to a generic file.
+  // If that file does not exist either, return an error code
+  if (!std::filesystem::exists(calibration_file_path_))
+  {
+    RCLCPP_ERROR(logger_, "No calibration data found.");
+    return nebula::Status(Status::INVALID_CALIBRATION_FILE);
+  }
+
+  // Try to load the existing fallback calibration file. Return an error if this fails
+  auto status = calib->LoadFromFile(calibration_file_path_);
+  if (status != Status::OK)
+  {
+    RCLCPP_ERROR(logger_, "Could not load fallback calibration file.");
+    return status;
+  }
+
+  // Return the fallback calibration file
+  calib->calibration_file = calibration_file_path_;
+  return calib;
+}
+
+void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+{
+  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
+  if (hw_interface_ &&
+      (packets_pub_->get_subscription_count() > 0 || packets_pub_->get_intra_process_subscription_count() > 0))
+  {
+    if (current_scan_msg_->packets.size() == 0)
+    {
+      current_scan_msg_->header.stamp = packet_msg->stamp;
+    }
+
+    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
+    pandar_packet_msg.stamp = packet_msg->stamp;
+    pandar_packet_msg.size = packet_msg->data.size();
+    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
+    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
+  }
+
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
+      driver_ptr_->ParseCloudPacket(packet_msg->data);
+  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+
+  if (pointcloud == nullptr)
+  {
+    // todo
+    // RCLCPP_WARN_STREAM(logger_, "Empty cloud parsed.");
+    return;
+  };
+
+  // Publish scan message only if it has been written to
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty())
+  {
+    packets_pub_->publish(std::move(current_scan_msg_));
+    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
+  }
+
+  if (nebula_points_pub_->get_subscription_count() > 0 ||
+      nebula_points_pub_->get_intra_process_subscription_count() > 0)
+  {
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
+  }
+  if (aw_points_base_pub_->get_subscription_count() > 0 ||
+      aw_points_base_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_cloud_xyzi = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
+  }
+  if (aw_points_ex_pub_->get_subscription_count() > 0 || aw_points_ex_pub_->get_intra_process_subscription_count() > 0)
+  {
+    const auto autoware_ex_cloud =
+        nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
+    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
+    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
+  }
+}
+
+void HesaiDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                                       const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher)
+{
+  if (pointcloud->header.stamp.sec < 0)
+  {
+    RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
+  }
+  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  publisher->publish(std::move(pointcloud));
+}
+
+nebula::Status HesaiDecoderWrapper::Status()
+{
+  if (!driver_ptr_)
+  {
+    return nebula::Status::NOT_INITIALIZED;
+  }
+
+  return driver_ptr_->GetStatus();
+}
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 23205ea64..e99e5c6d9 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -4,344 +4,70 @@ namespace nebula
 {
 namespace ros
 {
-HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
-  hw_interface_(),
-  wrapper_status_(Status::NOT_INITIALIZED),
-  interface_status_(Status::NOT_INITIALIZED),
-  packet_queue_(3000),
-  diagnostics_updater_(this)
+HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
+  : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true))
+  , wrapper_status_(Status::NOT_INITIALIZED)
+  , sensor_cfg_ptr_(nullptr)
+  , packet_queue_(3000)
+  , hw_interface_wrapper_()
+  , hw_monitor_wrapper_()
+  , decoder_wrapper_()
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  sensor_cfg_ptr_ = std::make_shared<drivers::HesaiSensorConfiguration>();
-  wrapper_status_ = GetParameters(*sensor_cfg_ptr_);
+  wrapper_status_ = DeclareAndGetSensorConfigParams();
+  wrapper_status_ = DeclareAndGetWrapperParams();
 
-  InitializeHwInterface();
-  InitializeDecoder();
-
-  RCLCPP_DEBUG(this->get_logger(), "Starting stream");
-
-  if (launch_hw_) {
-    InitializeHwMonitor();
-    StreamStart();
-    hw_interface_.RegisterScanCallback(
-      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
-  }
-
-  packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS(), 
-    std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
-
-  set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
-}
-
-Status HesaiRosWrapper::InitializeHwInterface()
-{
-  interface_status_ = Status::OK;
-
-  hw_interface_.SetLogger(std::make_shared<rclcpp::Logger>(this->get_logger()));
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-  hw_interface_.SetTargetModel(sensor_cfg_ptr_->sensor_model);
-
-  if (!launch_hw_) {
-    return interface_status_;
-  }
-
-  int retry_count = 0;
-
-  while (true) {
-    interface_status_ = hw_interface_.InitializeTcpDriver();
-    if (interface_status_ == Status::OK || !retry_hw_) {
-      break;
-    }
-
-    retry_count++;
-    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Retry: " << retry_count);
-  }
-
-  if (interface_status_ == Status::OK) {
-    try {
-      auto inventory = hw_interface_.GetInventory();
-      RCLCPP_INFO_STREAM(get_logger(), inventory);
-      hw_interface_.SetTargetModel(inventory.model);
-    } catch (...) {
-      RCLCPP_ERROR_STREAM(get_logger(), "Failed to get model from sensor...");
-    }
-    if (this->setup_sensor) {
-      hw_interface_.CheckAndSetConfig();
-      updateParameters();
-    }
-  } else {
-    RCLCPP_ERROR_STREAM(
-      get_logger(),
-      "Failed to get model from sensor... Set from config: " << sensor_cfg_ptr_->sensor_model);
+  if (launch_hw_)
+  {
+    hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
+    hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->HwInterface(), sensor_cfg_ptr_);
   }
 
-  pandar_scan_pub_ =
-    create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
-  current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-
-  return Status::OK;
-}
+  decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
+                           sensor_cfg_ptr_);
 
-Status HesaiRosWrapper::InitializeDecoder()
-{
-  calibration_cfg_ptr_ = std::make_shared<drivers::HesaiCalibrationConfiguration>();
-  correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>();
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+  set_param_res_ =
+      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
 
-  wrapper_status_ = GetCalibrationData(*calibration_cfg_ptr_, *correction_cfg_ptr_);
-  if (Status::OK != wrapper_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
-    return wrapper_status_;
-  }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Wrapper=" << wrapper_status_);
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
-  auto pointcloud_qos =
-    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+  RCLCPP_DEBUG(get_logger(), "Starting stream");
 
   decoder_thread_ = std::thread([this]() {
-    while (true) {
-        this->ProcessCloudPacket(std::move(packet_queue_.pop()));
+    while (true)
+    {
+      decoder_wrapper_->ProcessCloudPacket(std::move(packet_queue_.pop()));
     }
   });
 
-  nebula_points_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
-  aw_points_base_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
-  aw_points_ex_pub_ =
-    this->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
-
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    sensor_cfg_ptr_, calibration_cfg_ptr_, correction_cfg_ptr_);
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosWrapper::InitializeHwMonitor()
-{
-  if (Status::OK != interface_status_) {
-    RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_);
-    return Status::ERROR_1;
-  }
-
-  switch (sensor_cfg_ptr_->sensor_model) {
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
-    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
-    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
-      temperature_names_.emplace_back("Bottom circuit board T1");
-      temperature_names_.emplace_back("Bottom circuit board T2");
-      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
-      temperature_names_.emplace_back("Laser emitting board RT_L2");
-      temperature_names_.emplace_back("Receiving board RT_R");
-      temperature_names_.emplace_back("Receiving board RT2");
-      temperature_names_.emplace_back("Top circuit RT3");
-      temperature_names_.emplace_back("Not used");
-      break;
-    case nebula::drivers::SensorModel::HESAI_PANDAR64:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
-    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
-    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
-    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
-    default:
-      temperature_names_.emplace_back("Bottom circuit RT1");
-      temperature_names_.emplace_back("Bottom circuit RT2");
-      temperature_names_.emplace_back("Internal Temperature");
-      temperature_names_.emplace_back("Laser emitting board RT1");
-      temperature_names_.emplace_back("Laser emitting board RT2");
-      temperature_names_.emplace_back("Receiving board RT1");
-      temperature_names_.emplace_back("Top circuit RT1");
-      temperature_names_.emplace_back("Top circuit RT2");
-      break;
-  }
-
-  auto result = hw_interface_.GetInventory();
-  current_inventory_.reset(new HesaiInventory(result));
-  current_inventory_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  std::cout << "HesaiInventory" << std::endl;
-  std::cout << result << std::endl;
-  info_model_ = result.get_str_model();
-  info_serial_ = std::string(result.sn.begin(), result.sn.end());
-  hw_interface_.SetTargetModel(result.model);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Model:" << info_model_);
-  RCLCPP_INFO_STREAM(this->get_logger(), "Serial:" << info_serial_);
-  InitializeHesaiDiagnostics();
-  return Status::OK;
-}
-
-void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
-{
-  // static auto convert = nebula::util::Instrumentation("ReceiveCloudPacketCallback.convert");
-  // static auto publish = nebula::util::Instrumentation("ReceiveCloudPacketCallback.publish");
-  // static auto delay = nebula::util::TopicDelay("ReceiveCloudPacketCallback");
-  // Driver is not initialized yet
-  if (!driver_ptr_) {
-    return;
-  }
-
-  // convert.tick();
-  const auto now = std::chrono::system_clock::now();
-  const auto timestamp_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
-
-  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
-  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
-  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
-  msg_ptr->data.swap(packet);
-  // convert.tock();
-
-  // delay.tick(msg_ptr->stamp);
-
-  // publish.tick();
-  if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
-  }
-  // packet_pub_->publish(std::move(msg_ptr));
-  // publish.tock();
-}
-
-void HesaiRosWrapper::ReceiveScanMessageCallback(
-  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
-{
-  if (launch_hw_) {
-    RCLCPP_ERROR_THROTTLE(
-      get_logger(), *get_clock(), 1000,
-      "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
-    return;
-  }
-
-  for (auto & pkt : scan_msg->packets) {
-    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
-    nebula_pkt_ptr->stamp = pkt.stamp;
-    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
-
-    packet_queue_.push(std::move(nebula_pkt_ptr));
-  }
-}
-
-void HesaiRosWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
-{
-  // static auto parse = nebula::util::Instrumentation("ProcessCloudPacket.parse");
-  // static auto convert = nebula::util::Instrumentation("ProcessCloudPacket.convert");
-  // static auto publish = nebula::util::Instrumentation("ProcessCloudPacket.publish");
-  // static auto delay = nebula::util::TopicDelay("ProcessCloudPacket");
-
-  // delay.tick(packet_msg->stamp);
-
-  // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
-  if (
-    launch_hw_ &&
-    (pandar_scan_pub_->get_subscription_count() > 0 ||
-    pandar_scan_pub_->get_intra_process_subscription_count() > 0)) {
-    if (current_scan_msg_->packets.size() == 0) {
-      current_scan_msg_->header.stamp = packet_msg->stamp;
-    }
-
-    pandar_msgs::msg::PandarPacket pandar_packet_msg{};
-    pandar_packet_msg.stamp = packet_msg->stamp;
-    pandar_packet_msg.size = packet_msg->data.size();
-    std::copy(packet_msg->data.begin(), packet_msg->data.end(), pandar_packet_msg.data.begin());
-    current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
-  }
-
-  // parse.tick();
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-    driver_ptr_->ParseCloudPacket(packet_msg->data);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
-  // parse.tock();
-
-  if (pointcloud == nullptr) {
-    // todo
-    // RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed.");
-    return;
-  };
-
-  // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
-    pandar_scan_pub_->publish(std::move(current_scan_msg_));
-    current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-  }
-
-  if (
-    nebula_points_pub_->get_subscription_count() > 0 ||
-    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
-    // publish.tock();
-  }
-  if (
-    aw_points_base_pub_->get_subscription_count() > 0 ||
-    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-
-    const auto autoware_cloud_xyzi =
-      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
-    // publish.tock();
+  if (launch_hw_)
+  {
+    StreamStart();
+    hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
+        std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
   }
-  if (
-    aw_points_ex_pub_->get_subscription_count() > 0 ||
-    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
-    // convert.tick();
-
-    const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
-      pointcloud, std::get<1>(pointcloud_ts));
-    auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
-    pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp =
-      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
-    // convert.tock();
-    // publish.tick();
-    PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
-    // publish.tock();
+  else
+  {
+    packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
+        "pandar_packets", rclcpp::SensorDataQoS(),
+        std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+    RCLCPP_INFO_STREAM(get_logger(), "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
   }
 }
 
-void HesaiRosWrapper::PublishCloud(
-  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
+nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
 {
-  if (pointcloud->header.stamp.sec < 0) {
-    RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source.");
-  }
-  pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id;
-  publisher->publish(std::move(pointcloud));
-}
+  nebula::drivers::HesaiSensorConfiguration sensor_configuration;
 
-Status HesaiRosWrapper::GetStatus()
-{
-  return wrapper_status_;
-}
-
-Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor_configuration)
-{
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
+    declare_parameter<std::string>("sensor_model", "");
     sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
+        nebula::drivers::SensorModelFromString(get_parameter("sensor_model").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -349,9 +75,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
+    declare_parameter<std::string>("return_mode", "", descriptor);
     sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+        get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -359,8 +85,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = this->get_parameter("host_ip").as_string();
+    declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
+    sensor_configuration.host_ip = get_parameter("host_ip").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -368,8 +94,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = this->get_parameter("sensor_ip").as_string();
+    declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
+    sensor_configuration.sensor_ip = get_parameter("sensor_ip").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -377,8 +103,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = this->get_parameter("data_port").as_int();
+    declare_parameter<uint16_t>("data_port", 2368, descriptor);
+    sensor_configuration.data_port = get_parameter("data_port").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -386,8 +112,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = this->get_parameter("gnss_port").as_int();
+    declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
+    sensor_configuration.gnss_port = get_parameter("gnss_port").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -395,8 +121,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
+    declare_parameter<std::string>("frame_id", "pandar", descriptor);
+    sensor_configuration.frame_id = get_parameter("frame_id").as_string();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -406,18 +132,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
     rcl_interfaces::msg::FloatingPointRange range;
     range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path = this->get_parameter("calibration_file").as_string();
+    descriptor.floating_point_range = { range };
+    declare_parameter<double>("scan_phase", 0., descriptor);
+    sensor_configuration.scan_phase = get_parameter("scan_phase").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -425,8 +142,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = this->get_parameter("min_range").as_double();
+    declare_parameter<double>("min_range", 0.3, descriptor);
+    sensor_configuration.min_range = get_parameter("min_range").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -434,8 +151,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = false;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = this->get_parameter("max_range").as_double();
+    declare_parameter<double>("max_range", 300., descriptor);
+    sensor_configuration.max_range = get_parameter("max_range").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -443,10 +160,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int();
+    declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
+    sensor_configuration.packet_mtu_size = get_parameter("packet_mtu_size").as_int();
   }
-
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
@@ -454,18 +170,21 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.dynamic_typing = false;
     rcl_interfaces::msg::IntegerRange range;
     RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
+    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
+    {
       descriptor.additional_constraints = "200, 300, 400, 500";
       // range.set__from_value(200).set__to_value(500).set__step(100);
       // descriptor.integer_range = {range}; //todo
-      this->declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
-    } else {
+      declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+    }
+    else
+    {
       descriptor.additional_constraints = "300, 600, 1200";
       // range.set__from_value(300).set__to_value(1200).set__step(300);
       // descriptor.integer_range = {range}; //todo
-      this->declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+      declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
     }
-    sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int();
+    sensor_configuration.rotation_speed = get_parameter("rotation_speed").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -475,9 +194,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int();
+    descriptor.integer_range = { range };
+    declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
+    sensor_configuration.cloud_min_angle = get_parameter("cloud_min_angle").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -487,18 +206,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "";
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int();
-  }
-  if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("correction_file", "", descriptor);
-    correction_file_path = this->get_parameter("correction_file").as_string();
+    descriptor.integer_range = { range };
+    declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
+    sensor_configuration.cloud_max_angle = get_parameter("cloud_max_angle").as_int();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -508,37 +218,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
     rcl_interfaces::msg::FloatingPointRange range;
     range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold =
-      this->get_parameter("dual_return_distance_threshold").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw_ = this->get_parameter("launch_hw").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("setup_sensor", true, descriptor);
-    this->setup_sensor = this->get_parameter("setup_sensor").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("retry_hw", true, descriptor);
-    this->retry_hw_ = this->get_parameter("retry_hw").as_bool();
+    descriptor.floating_point_range = { range };
+    declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
+    sensor_configuration.dual_return_distance_threshold = get_parameter("dual_return_distance_threshold").as_double();
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -546,9 +228,8 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile =
-      nebula::drivers::PtpProfileFromString(this->get_parameter("ptp_profile").as_string());
+    declare_parameter<std::string>("ptp_profile", "");
+    sensor_configuration.ptp_profile = nebula::drivers::PtpProfileFromString(get_parameter("ptp_profile").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -556,10 +237,11 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportTypeFromString(
-      this->get_parameter("ptp_transport_type").as_string());
-    if (static_cast<int>(sensor_configuration.ptp_profile) > 0) {
+    declare_parameter<std::string>("ptp_transport_type", "");
+    sensor_configuration.ptp_transport_type =
+        nebula::drivers::PtpTransportTypeFromString(get_parameter("ptp_transport_type").as_string());
+    if (static_cast<int>(sensor_configuration.ptp_profile) > 0)
+    {
       sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
     }
   }
@@ -569,9 +251,9 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.read_only = true;
     descriptor.dynamic_typing = false;
     descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("ptp_switch_type", "");
+    declare_parameter<std::string>("ptp_switch_type", "");
     sensor_configuration.ptp_switch_type =
-      nebula::drivers::PtpSwitchTypeFromString(this->get_parameter("ptp_switch_type").as_string());
+        nebula::drivers::PtpSwitchTypeFromString(get_parameter("ptp_switch_type").as_string());
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -580,320 +262,144 @@ Status HesaiRosWrapper::GetParameters(drivers::HesaiSensorConfiguration & sensor
     descriptor.dynamic_typing = false;
     rcl_interfaces::msg::IntegerRange range;
     range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = {range};
-    this->declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = this->get_parameter("ptp_domain").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    this->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    this->diag_span_ = this->get_parameter("diag_span").as_int();
+    descriptor.integer_range = { range };
+    declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
+    sensor_configuration.ptp_domain = get_parameter("ptp_domain").as_int();
   }
 
-  ///////////////////////////////////////////////
-  // Validate ROS parameters
-  ///////////////////////////////////////////////
-
-  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (
-    sensor_configuration.ptp_transport_type ==
-    nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(),
-      "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
-      "using the '1588v2' PTP Profile");
+  if (sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
+                        "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
-    RCLCPP_ERROR_STREAM(
-      get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
+  {
+    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
+  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN)
+  {
     return Status::INVALID_SENSOR_MODEL;
   }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
+  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN)
+  {
     return Status::INVALID_ECHO_MODE;
   }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
+  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360)
+  {
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  hw_interface_.SetSensorConfiguration(
-    std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-
-  RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
+  auto new_cfg_ptr_ = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(sensor_configuration);
+  sensor_cfg_ptr_.swap(new_cfg_ptr_);
   return Status::OK;
 }
 
-Status HesaiRosWrapper::GetCalibrationData(
-  drivers::HesaiCalibrationConfiguration & calibration_configuration,
-  drivers::HesaiCorrection & correction_configuration)
+void HesaiRosWrapper::ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
 {
-  calibration_configuration.calibration_file = calibration_file_path;  // todo
-
-  bool run_local = !launch_hw_;
-  if (sensor_cfg_ptr_->sensor_model != drivers::SensorModel::HESAI_PANDARAT128) {
-    std::string calibration_file_path_from_sensor;
-    if (launch_hw_ && !calibration_configuration.calibration_file.empty()) {
-      int ext_pos = calibration_configuration.calibration_file.find_last_of('.');
-      calibration_file_path_from_sensor +=
-        calibration_configuration.calibration_file.substr(0, ext_pos);
-      calibration_file_path_from_sensor += "_from_sensor";
-      calibration_file_path_from_sensor += calibration_configuration.calibration_file.substr(
-        ext_pos, calibration_configuration.calibration_file.size() - ext_pos);
-    }
-    if (launch_hw_) {
-      run_local = false;
-      RCLCPP_INFO_STREAM(
-        this->get_logger(),
-        "Trying to acquire calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-      std::future<void> future = std::async(
-        std::launch::async,
-        [this, &calibration_configuration, &calibration_file_path_from_sensor, &run_local]() {
-          auto str = hw_interface_.GetLidarCalibrationString();
-          auto rt =
-            calibration_configuration.SaveFileFromString(calibration_file_path_from_sensor, str);
-          RCLCPP_ERROR_STREAM(get_logger(), str);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(),
-              "SaveFileFromString success:" << calibration_file_path_from_sensor << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "SaveFileFromString failed:" << calibration_file_path_from_sensor << "\n");
-          }
-          rt = calibration_configuration.LoadFromString(str);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(get_logger(), "LoadFromString success:" << str << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(get_logger(), "LoadFromString failed:" << str << "\n");
-          }
-        });
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(5000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        RCLCPP_ERROR_STREAM(get_logger(), "GetCalibration Timeout");
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "Acquired calibration data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "The calibration has been saved in '" << calibration_file_path_from_sensor << "'");
-      }
-    }
-    if (run_local) {
-      RCLCPP_WARN_STREAM(get_logger(), "Running locally");
-      bool run_org = false;
-      if (calibration_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        RCLCPP_INFO_STREAM(
-          get_logger(), "Trying to load file: " << calibration_file_path_from_sensor);
-        auto cal_status = calibration_configuration.LoadFromFile(calibration_file_path_from_sensor);
+  if (hw_interface_wrapper_)
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000,
+                          "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+    return;
+  }
 
-        if (cal_status != Status::OK) {
-          run_org = true;
-        } else {
-          RCLCPP_INFO_STREAM(
-            this->get_logger(),
-            "Load calibration data from: '" << calibration_file_path_from_sensor << "'");
-        }
-      }
-      if (run_org) {
-        RCLCPP_INFO_STREAM(
-          get_logger(), "Trying to load file: " << calibration_configuration.calibration_file);
-        if (calibration_configuration.calibration_file.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(),
-            "Empty Calibration_file File: '" << calibration_configuration.calibration_file << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status =
-            calibration_configuration.LoadFromFile(calibration_configuration.calibration_file);
+  for (auto& pkt : scan_msg->packets)
+  {
+    auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+    nebula_pkt_ptr->stamp = pkt.stamp;
+    std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
 
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(),
-              "Given Calibration File: '" << calibration_configuration.calibration_file << "'");
-            return cal_status;
-          } else {
-            RCLCPP_INFO_STREAM(
-              this->get_logger(),
-              "Load calibration data from: '" << calibration_configuration.calibration_file << "'");
-          }
-        }
-      }
-    }
-  } else {  // sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128
-    std::string correction_file_path_from_sensor;
-    if (launch_hw_ && !correction_file_path.empty()) {
-      int ext_pos = correction_file_path.find_last_of('.');
-      correction_file_path_from_sensor += correction_file_path.substr(0, ext_pos);
-      correction_file_path_from_sensor += "_from_sensor";
-      correction_file_path_from_sensor +=
-        correction_file_path.substr(ext_pos, correction_file_path.size() - ext_pos);
-    }
-    std::future<void> future = std::async(
-      std::launch::async,
-      [this, &correction_configuration, &correction_file_path_from_sensor, &run_local]() {
-        if (launch_hw_) {
-          RCLCPP_INFO_STREAM(this->get_logger(), "Trying to acquire calibration data from sensor");
-          auto received_bytes = hw_interface_.GetLidarCalibrationBytes();
-          RCLCPP_INFO_STREAM(
-            get_logger(), "AT128 calibration size:" << received_bytes.size() << "\n");
-          auto rt = correction_configuration.SaveFileFromBinary(
-            correction_file_path_from_sensor, received_bytes);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(
-              get_logger(),
-              "SaveFileFromBinary success:" << correction_file_path_from_sensor << "\n");
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "SaveFileFromBinary failed:" << correction_file_path_from_sensor
-                                           << ". Falling back to offline calibration file.");
-            run_local = true;
-          }
-          rt = correction_configuration.LoadFromBinary(received_bytes);
-          if (rt == Status::OK) {
-            RCLCPP_INFO_STREAM(get_logger(), "LoadFromBinary success" << "\n");
-            run_local = false;
-          } else {
-            RCLCPP_ERROR_STREAM(
-              get_logger(),
-              "LoadFromBinary failed" << ". Falling back to offline calibration file.");
-            run_local = true;
-          }
-        } else {
-          RCLCPP_ERROR_STREAM(get_logger(), "Falling back to offline calibration file.");
-          run_local = true;
-        }
-      });
-    if (!run_local) {
-      std::future_status status;
-      status = future.wait_for(std::chrono::milliseconds(8000));
-      if (status == std::future_status::timeout) {
-        std::cerr << "# std::future_status::timeout\n";
-        run_local = true;
-      } else if (status == std::future_status::ready && !run_local) {
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "Acquired correction data from sensor: '" << sensor_cfg_ptr_->sensor_ip << "'");
-        RCLCPP_INFO_STREAM(
-          this->get_logger(),
-          "The correction has been saved in '" << correction_file_path_from_sensor << "'");
-      }
-    }
-    if (run_local) {
-      bool run_org = false;
-      if (correction_file_path_from_sensor.empty()) {
-        run_org = true;
-      } else {
-        auto cal_status = correction_configuration.LoadFromFile(correction_file_path_from_sensor);
+    packet_queue_.push(std::move(nebula_pkt_ptr));
+  }
+}
 
-        if (cal_status != Status::OK) {
-          run_org = true;
-        } else {
-          RCLCPP_INFO_STREAM(
-            this->get_logger(),
-            "Load correction data from: '" << correction_file_path_from_sensor << "'");
-        }
-      }
-      if (run_org) {
-        if (correction_file_path.empty()) {
-          RCLCPP_ERROR_STREAM(
-            this->get_logger(), "Empty Correction File: '" << correction_file_path << "'");
-          return Status::INVALID_CALIBRATION_FILE;
-        } else {
-          auto cal_status = correction_configuration.LoadFromFile(correction_file_path);
+Status HesaiRosWrapper::GetStatus()
+{
+  return wrapper_status_;
+}
 
-          if (cal_status != Status::OK) {
-            RCLCPP_ERROR_STREAM(
-              this->get_logger(), "Given Correction File: '" << correction_file_path << "'");
-            return cal_status;
-          } else {
-            RCLCPP_INFO_STREAM(
-              this->get_logger(), "Load correction data from: '" << correction_file_path << "'");
-          }
-        }
-      }
-    }
-  }  // end AT128
+Status HesaiRosWrapper::DeclareAndGetWrapperParams()
+{
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    declare_parameter<bool>("launch_hw", "", descriptor);
+    launch_hw_ = get_parameter("launch_hw").as_bool();
+  }
 
   return Status::OK;
 }
 
 HesaiRosWrapper::~HesaiRosWrapper()
 {
-  RCLCPP_INFO_STREAM(get_logger(), "Closing TcpDriver");
-  hw_interface_.FinalizeTcpDriver();
 }
 
 Status HesaiRosWrapper::StreamStart()
 {
-  if (Status::OK == interface_status_) {
-    interface_status_ = hw_interface_.SensorInterfaceStart();
+  if (!hw_interface_wrapper_)
+  {
+    return Status::UDP_CONNECTION_ERROR;
   }
-  return interface_status_;
+
+  if (hw_interface_wrapper_->Status() != Status::OK)
+  {
+    return hw_interface_wrapper_->Status();
+  }
+
+  return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
-  const std::vector<rclcpp::Parameter> & p)
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(const std::vector<rclcpp::Parameter>& p)
 {
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(this->get_logger(), p);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), *sensor_cfg_ptr_);
-  RCLCPP_INFO_STREAM(this->get_logger(), p);
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
+  RCLCPP_DEBUG_STREAM(get_logger(), p);
+  RCLCPP_DEBUG_STREAM(get_logger(), *sensor_cfg_ptr_);
+
+  drivers::HesaiSensorConfiguration new_cfg(*sensor_cfg_ptr_);
 
-  std::shared_ptr<drivers::HesaiSensorConfiguration> new_param =
-    std::make_shared<drivers::HesaiSensorConfiguration>(*sensor_cfg_ptr_);
-  RCLCPP_INFO_STREAM(this->get_logger(), new_param);
   std::string sensor_model_str;
   std::string return_mode_str;
-  if (
-    get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
-    get_param(p, "host_ip", new_param->host_ip) | get_param(p, "sensor_ip", new_param->sensor_ip) |
-    get_param(p, "frame_id", new_param->frame_id) |
-    get_param(p, "data_port", new_param->data_port) |
-    get_param(p, "gnss_port", new_param->gnss_port) |
-    get_param(p, "scan_phase", new_param->scan_phase) |
-    get_param(p, "packet_mtu_size", new_param->packet_mtu_size) |
-    get_param(p, "rotation_speed", new_param->rotation_speed) |
-    get_param(p, "cloud_min_angle", new_param->cloud_min_angle) |
-    get_param(p, "cloud_max_angle", new_param->cloud_max_angle) |
-    get_param(p, "dual_return_distance_threshold", new_param->dual_return_distance_threshold)) {
+  if (get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
+      get_param(p, "host_ip", new_cfg.host_ip) | get_param(p, "sensor_ip", new_cfg.sensor_ip) |
+      get_param(p, "frame_id", new_cfg.frame_id) | get_param(p, "data_port", new_cfg.data_port) |
+      get_param(p, "gnss_port", new_cfg.gnss_port) | get_param(p, "scan_phase", new_cfg.scan_phase) |
+      get_param(p, "packet_mtu_size", new_cfg.packet_mtu_size) |
+      get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+      get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+      get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
+      get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold))
+  {
     if (0 < sensor_model_str.length())
-      new_param->sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
+      new_cfg.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
     if (0 < return_mode_str.length())
-      new_param->return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
+      new_cfg.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
 
-    sensor_cfg_ptr_.swap(new_param);
-    RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration");
-    RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_.SetSensorConfiguration(
-      std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    hw_interface_.CheckAndSetConfig();
+    auto new_cfg_ptr = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(new_cfg);
+    sensor_cfg_ptr_.swap(new_cfg_ptr);
+    RCLCPP_INFO_STREAM(get_logger(), "Update sensor_configuration");
+    RCLCPP_DEBUG_STREAM(get_logger(), "hw_interface_.SetSensorConfiguration");
+    hw_interface_wrapper_->HwInterface()->SetSensorConfiguration(
+        std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
+    hw_interface_wrapper_->HwInterface()->CheckAndSetConfig();
   }
 
   auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
   result->successful = true;
   result->reason = "success";
 
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success");
+  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback success");
 
   return *result;
 }
@@ -901,310 +407,47 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(
 std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
 {
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start");
+  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters start");
   std::ostringstream os_sensor_model;
   os_sensor_model << sensor_cfg_ptr_->sensor_model;
   std::ostringstream os_return_mode;
   os_return_mode << sensor_cfg_ptr_->return_mode;
-  RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters");
+  RCLCPP_INFO_STREAM(get_logger(), "set_parameters");
   auto results = set_parameters(
-    {rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-     rclcpp::Parameter("return_mode", os_return_mode.str()),
-     rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
-     rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
-     rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
-     rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
-     rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
-     rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
-     rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
-     rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
-     rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
-     rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
-     rclcpp::Parameter(
-       "dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold)});
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end");
+      { rclcpp::Parameter("sensor_model", os_sensor_model.str()),
+        rclcpp::Parameter("return_mode", os_return_mode.str()), rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
+        rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
+        rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
+        rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
+        rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
+        rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
+        rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
+        rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
+        rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
+        rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
+        rclcpp::Parameter("dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold) });
+  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters end");
   return results;
 }
 
-void HesaiRosWrapper::InitializeHesaiDiagnostics()
-{
-  RCLCPP_INFO_STREAM(this->get_logger(), "InitializeHesaiDiagnostics");
-  using std::chrono_literals::operator""s;
-  std::ostringstream os;
-  auto hardware_id = info_model_ + ": " + info_serial_;
-  diagnostics_updater_.setHardwareID(hardware_id);
-  RCLCPP_INFO_STREAM(this->get_logger(), "hardware_id: " + hardware_id);
-
-  diagnostics_updater_.add("hesai_status", this, &HesaiRosWrapper::HesaiCheckStatus);
-  diagnostics_updater_.add("hesai_ptp", this, &HesaiRosWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add("hesai_temperature", this, &HesaiRosWrapper::HesaiCheckTemperature);
-  diagnostics_updater_.add("hesai_rpm", this, &HesaiRosWrapper::HesaiCheckRpm);
-
-  current_status_.reset();
-  current_monitor_.reset();
-  current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-
-  auto fetch_diag_from_sensor = [this]() {
-    OnHesaiStatusTimer();
-    if (hw_interface_.UseHttpGetLidarMonitor()) {
-      OnHesaiLidarMonitorTimerHttp();
-    } else {
-      OnHesaiLidarMonitorTimer();
-    }
-  };
-
-  fetch_diagnostics_timer_ =
-    create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
-
-  if (hw_interface_.UseHttpGetLidarMonitor()) {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltageHttp);
-  } else {
-    diagnostics_updater_.add("hesai_voltage", this, &HesaiRosWrapper::HesaiCheckVoltage);
-  }
-
-  auto on_timer_update = [this] {
-    RCLCPP_DEBUG_STREAM(get_logger(), "OnUpdateTimer");
-    auto now = this->get_clock()->now();
-    auto dif = (now - *current_status_time_).seconds();
-
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(status): " << dif);
-
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    dif = (now - *current_lidar_monitor_time_).seconds();
-    RCLCPP_DEBUG_STREAM(get_logger(), "dif(monitor): " << dif);
-    if (diag_span_ * 2.0 < dif * 1000) {
-      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
-      RCLCPP_DEBUG_STREAM(get_logger(), "STALE");
-    } else {
-      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
-      RCLCPP_DEBUG_STREAM(get_logger(), "OK");
-    }
-    diagnostics_updater_.force_update();
-  };
-  diagnostics_update_timer_ =
-    create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
-
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_timer");
-}
-
-std::string HesaiRosWrapper::GetPtreeValue(
-  boost::property_tree::ptree * pt, const std::string & key)
-{
-  boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value) {
-    return value.get();
-  } else {
-    return MSG_NOT_SUPPORTED;
-  }
-}
-std::string HesaiRosWrapper::GetFixedPrecisionString(double val, int pre)
-{
-  std::stringstream ss;
-  ss << std::fixed << std::setprecision(pre) << val;
-  return ss.str();
-}
-
-void HesaiRosWrapper::OnHesaiStatusTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer" << std::endl);
-  try {
-    auto result = hw_interface_.GetLidarStatus();
-    std::scoped_lock lock(mtx_lidar_status_);
-    current_status_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_status_.reset(new HesaiLidarStatus(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(std::system_error)"), error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiStatusTimer END" << std::endl);
-}
-
-void HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp");
-  try {
-    hw_interface_.GetLidarMonitorAsyncHttp([this](const std::string & str) {
-      std::scoped_lock lock(mtx_lidar_monitor_);
-      current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-      current_lidar_monitor_tree_ =
-        std::make_unique<boost::property_tree::ptree>(hw_interface_.ParseJson(str));
-    });
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger(
-        "HesaiRosWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimerHttp END");
-}
-
-void HesaiRosWrapper::OnHesaiLidarMonitorTimer()
-{
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer");
-  try {
-    auto result = hw_interface_.GetLidarMonitor();
-    std::scoped_lock lock(mtx_lidar_monitor_);
-    current_lidar_monitor_time_.reset(new rclcpp::Time(this->get_clock()->now()));
-    current_monitor_.reset(new HesaiLidarMonitor(result));
-  } catch (const std::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
-      error.what());
-  } catch (const boost::system::system_error & error) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("HesaiRosWrapper::OnHesaiLidarMonitorTimer(boost::system::system_error)"),
-      error.what());
-  }
-  RCLCPP_DEBUG_STREAM(this->get_logger(), "OnHesaiLidarMonitorTimer END");
-}
-
-void HesaiRosWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-
-    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime));
-    diagnostics.add("startup_times", std::to_string(current_status_->startup_times));
-    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    auto gps_status = current_status_->get_str_gps_pps_lock();
-    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
-    auto ptp_status = current_status_->get_str_ptp_clock_status();
-    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
-    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
-    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
-    diagnostics.add("gps_pps_lock", gps_status);
-    diagnostics.add("gps_gprmc_status", gprmc_status);
-    diagnostics.add("ptp_clock_status", ptp_status);
-    if (gps_status != "UNKNOWN") {
-      msg.emplace_back("gps_pps_lock: " + gps_status);
-    }
-    if (gprmc_status != "UNKNOWN") {
-      msg.emplace_back("gprmc_status: " + gprmc_status);
-    }
-    if (ptp_status != "UNKNOWN") {
-      msg.emplace_back("ptp_status: " + ptp_status);
-    }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckTemperature(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    for (size_t i = 0; i < current_status_->temperature.size(); i++) {
-      diagnostics.add(
-        temperature_names_[i], GetFixedPrecisionString(current_status_->temperature[i] * 0.01));
-    }
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
-
-void HesaiRosWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
 {
-  std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed));
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  if (!decoder_wrapper_ || decoder_wrapper_->Status() != Status::OK)
+  {
+    return;
   }
-}
 
-void HesaiRosWrapper::HesaiCheckVoltageHttp(
-  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_lidar_monitor_tree_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    std::string key = "";
-
-    std::string mes;
-    key = "lidarInCur";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = MSG_ERROR + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-    key = "lidarInVol";
-    try {
-      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    } catch (boost::bad_lexical_cast & ex) {
-      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
-      mes = MSG_ERROR + std::string(ex.what());
-    }
-    diagnostics.add(key, mes);
-
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
-  }
-}
+  const auto now = std::chrono::system_clock::now();
+  const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
 
-void HesaiRosWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
-{
-  std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_monitor_) {
-    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
-    std::vector<std::string> msg;
-    diagnostics.add(
-      "input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage * 0.01) + " V");
-    diagnostics.add(
-      "input_current", GetFixedPrecisionString(current_monitor_->input_current * 0.01) + " mA");
-    diagnostics.add(
-      "input_power", GetFixedPrecisionString(current_monitor_->input_power * 0.01) + " W");
+  auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
+  msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
+  msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
+  msg_ptr->data.swap(packet);
 
-    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  } else {
-    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  if (!packet_queue_.try_push(std::move(msg_ptr)))
+  {
+    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
 }
 
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
new file mode 100644
index 000000000..e38f6b181
--- /dev/null
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -0,0 +1,94 @@
+#include "nebula_ros/hesai/hw_interface_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
+                                                 std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : hw_interface_(new nebula::drivers::HesaiHwInterface())
+  , logger_(parent_node->get_logger().get_child("HwInterface"))
+  , status_(Status::NOT_INITIALIZED)
+{
+  bool setup_sensor, retry_connect;
+
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<bool>("setup_sensor", true, descriptor);
+    setup_sensor = parent_node->get_parameter("setup_sensor").as_bool();
+  }
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+    descriptor.read_only = true;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "";
+    parent_node->declare_parameter<bool>("retry_hw", true, descriptor);
+    retry_connect = parent_node->get_parameter("retry_hw").as_bool();
+  }
+
+  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<drivers::SensorConfigurationBase>(config));
+
+  status_ = Status::OK;
+
+  hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
+  hw_interface_->SetTargetModel(config->sensor_model);
+
+  int retry_count = 0;
+
+  while (true)
+  {
+    status_ = hw_interface_->InitializeTcpDriver();
+    if (status_ == Status::OK || !retry_connect)
+    {
+      break;
+    }
+
+    retry_count++;
+    std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
+    RCLCPP_WARN_STREAM(logger_, "Retry: " << retry_count);
+  }
+
+  if (status_ == Status::OK)
+  {
+    try
+    {
+      auto inventory = hw_interface_->GetInventory();
+      RCLCPP_INFO_STREAM(logger_, inventory);
+      hw_interface_->SetTargetModel(inventory.model);
+    }
+    catch (...)
+    {
+      RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor...");
+    }
+    if (setup_sensor)
+    {
+      hw_interface_->CheckAndSetConfig();
+      // updateParameters(); TODO
+    }
+  }
+  else
+  {
+    RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor... Set from config: " << config->sensor_model);
+  }
+
+  status_ = Status::OK;
+}
+
+Status HesaiHwInterfaceWrapper::Status()
+{
+  return status_;
+}
+
+std::shared_ptr<drivers::HesaiHwInterface> HesaiHwInterfaceWrapper::HwInterface() const
+{
+  return hw_interface_;
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
new file mode 100644
index 000000000..579e32a4e
--- /dev/null
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -0,0 +1,412 @@
+#include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
+                                             const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
+                                             std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+  : logger_(parent_node->get_logger().get_child("HwMonitor"))
+  , diagnostics_updater_(parent_node)
+  , status_(Status::OK)
+  , hw_interface_(hw_interface)
+  , parent_node_(parent_node)
+{
+  {
+    rcl_interfaces::msg::ParameterDescriptor descriptor;
+    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+    descriptor.read_only = false;
+    descriptor.dynamic_typing = false;
+    descriptor.additional_constraints = "milliseconds";
+    parent_node->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
+    diag_span_ = parent_node->get_parameter("diag_span").as_int();
+  }
+
+  switch (config->sensor_model)
+  {
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32:
+    case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
+    case nebula::drivers::SensorModel::HESAI_PANDARAT128:
+      temperature_names_.emplace_back("Bottom circuit board T1");
+      temperature_names_.emplace_back("Bottom circuit board T2");
+      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names_.emplace_back("Laser emitting board RT_L2");
+      temperature_names_.emplace_back("Receiving board RT_R");
+      temperature_names_.emplace_back("Receiving board RT2");
+      temperature_names_.emplace_back("Top circuit RT3");
+      temperature_names_.emplace_back("Not used");
+      break;
+    case nebula::drivers::SensorModel::HESAI_PANDAR64:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40P:
+    case nebula::drivers::SensorModel::HESAI_PANDAR40M:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT64:
+    case nebula::drivers::SensorModel::HESAI_PANDARQT128:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E3X:
+    case nebula::drivers::SensorModel::HESAI_PANDAR128_E4X:
+    default:
+      temperature_names_.emplace_back("Bottom circuit RT1");
+      temperature_names_.emplace_back("Bottom circuit RT2");
+      temperature_names_.emplace_back("Internal Temperature");
+      temperature_names_.emplace_back("Laser emitting board RT1");
+      temperature_names_.emplace_back("Laser emitting board RT2");
+      temperature_names_.emplace_back("Receiving board RT1");
+      temperature_names_.emplace_back("Top circuit RT1");
+      temperature_names_.emplace_back("Top circuit RT2");
+      break;
+  }
+
+  auto result = hw_interface->GetInventory();
+  current_inventory_.reset(new HesaiInventory(result));
+  current_inventory_time_.reset(new rclcpp::Time(parent_node->get_clock()->now()));
+  std::cout << "HesaiInventory" << std::endl;
+  std::cout << result << std::endl;
+  info_model_ = result.get_str_model();
+  info_serial_ = std::string(std::begin(result.sn), std::end(result.sn));
+  RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
+  RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
+  InitializeHesaiDiagnostics();
+
+  if (Status::OK != status_)
+  {
+    throw std::runtime_error((std::stringstream() << "Error getting calibration data: " << status_).str());
+  }
+}
+
+void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
+{
+  RCLCPP_INFO_STREAM(logger_, "InitializeHesaiDiagnostics");
+  using std::chrono_literals::operator""s;
+  std::ostringstream os;
+  auto hardware_id = info_model_ + ": " + info_serial_;
+  diagnostics_updater_.setHardwareID(hardware_id);
+  RCLCPP_INFO_STREAM(logger_, "hardware_id: " + hardware_id);
+
+  diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorWrapper::HesaiCheckStatus);
+  diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorWrapper::HesaiCheckPtp);
+  diagnostics_updater_.add("hesai_temperature", this, &HesaiHwMonitorWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorWrapper::HesaiCheckRpm);
+
+  current_status_.reset();
+  current_monitor_.reset();
+  current_status_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+  current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+  current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+  current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+
+  auto fetch_diag_from_sensor = [this]() {
+    OnHesaiStatusTimer();
+    if (hw_interface_->UseHttpGetLidarMonitor())
+    {
+      OnHesaiLidarMonitorTimerHttp();
+    }
+    else
+    {
+      OnHesaiLidarMonitorTimer();
+    }
+  };
+
+  fetch_diagnostics_timer_ =
+      parent_node_->create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
+
+  if (hw_interface_->UseHttpGetLidarMonitor())
+  {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltageHttp);
+  }
+  else
+  {
+    diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltage);
+  }
+
+  auto on_timer_update = [this] {
+    RCLCPP_DEBUG_STREAM(logger_, "OnUpdateTimer");
+    auto now = parent_node_->get_clock()->now();
+    auto dif = (now - *current_status_time_).seconds();
+
+    RCLCPP_DEBUG_STREAM(logger_, "dif(status): " << dif);
+
+    if (diag_span_ * 2.0 < dif * 1000)
+    {
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(logger_, "STALE");
+    }
+    else
+    {
+      current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(logger_, "OK");
+    }
+    dif = (now - *current_lidar_monitor_time_).seconds();
+    RCLCPP_DEBUG_STREAM(logger_, "dif(monitor): " << dif);
+    if (diag_span_ * 2.0 < dif * 1000)
+    {
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      RCLCPP_DEBUG_STREAM(logger_, "STALE");
+    }
+    else
+    {
+      current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      RCLCPP_DEBUG_STREAM(logger_, "OK");
+    }
+    diagnostics_updater_.force_update();
+  };
+  diagnostics_update_timer_ =
+      parent_node_->create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
+
+  RCLCPP_DEBUG_STREAM(logger_, "add_timer");
+}
+
+std::string HesaiHwMonitorWrapper::GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key)
+{
+  boost::optional<std::string> value = pt->get_optional<std::string>(key);
+  if (value)
+  {
+    return value.get();
+  }
+  else
+  {
+    return MSG_NOT_SUPPORTED;
+  }
+}
+std::string HesaiHwMonitorWrapper::GetFixedPrecisionString(double val, int pre)
+{
+  std::stringstream ss;
+  ss << std::fixed << std::setprecision(pre) << val;
+  return ss.str();
+}
+
+void HesaiHwMonitorWrapper::OnHesaiStatusTimer()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer" << std::endl);
+  try
+  {
+    auto result = hw_interface_->GetLidarStatus();
+    std::scoped_lock lock(mtx_lidar_status_);
+    current_status_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+    current_status_.reset(new HesaiLidarStatus(result));
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer END" << std::endl);
+}
+
+void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp");
+  try
+  {
+    hw_interface_->GetLidarMonitorAsyncHttp([this](const std::string& str) {
+      std::scoped_lock lock(mtx_lidar_monitor_);
+      current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+      current_lidar_monitor_tree_ = std::make_unique<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+    });
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_"
+                                           "error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp END");
+}
+
+void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer()
+{
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer");
+  try
+  {
+    auto result = hw_interface_->GetLidarMonitor();
+    std::scoped_lock lock(mtx_lidar_monitor_);
+    current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
+    current_monitor_.reset(new HesaiLidarMonitor(result));
+  }
+  catch (const std::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
+                        error.what());
+  }
+  catch (const boost::system::system_error& error)
+  {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(boost::system::system_"
+                                           "error)"),
+                        error.what());
+  }
+  RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer END");
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+
+    diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime.value()));
+    diagnostics.add("startup_times", std::to_string(current_status_->startup_times.value()));
+    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time.value()));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    auto gps_status = current_status_->get_str_gps_pps_lock();
+    auto gprmc_status = current_status_->get_str_gps_gprmc_status();
+    auto ptp_status = current_status_->get_str_ptp_clock_status();
+    std::transform(gps_status.cbegin(), gps_status.cend(), gps_status.begin(), toupper);
+    std::transform(gprmc_status.cbegin(), gprmc_status.cend(), gprmc_status.begin(), toupper);
+    std::transform(ptp_status.cbegin(), ptp_status.cend(), ptp_status.begin(), toupper);
+    diagnostics.add("gps_pps_lock", gps_status);
+    diagnostics.add("gps_gprmc_status", gprmc_status);
+    diagnostics.add("ptp_clock_status", ptp_status);
+    if (gps_status != "UNKNOWN")
+    {
+      msg.emplace_back("gps_pps_lock: " + gps_status);
+    }
+    if (gprmc_status != "UNKNOWN")
+    {
+      msg.emplace_back("gprmc_status: " + gprmc_status);
+    }
+    if (ptp_status != "UNKNOWN")
+    {
+      msg.emplace_back("ptp_status: " + ptp_status);
+    }
+    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN")
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    for (size_t i = 0; i < std::size(current_status_->temperature); i++)
+    {
+      diagnostics.add(temperature_names_[i],
+                      GetFixedPrecisionString(current_status_->temperature[i].value() * 0.01, 3));
+    }
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_status_);
+  if (current_status_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed.value()));
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_lidar_monitor_tree_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    std::string key = "";
+
+    std::string mes;
+    key = "lidarInCur";
+    try
+    {
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
+    }
+    catch (boost::bad_lexical_cast& ex)
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = MSG_ERROR + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+    key = "lidarInVol";
+    try
+    {
+      mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
+    }
+    catch (boost::bad_lexical_cast& ex)
+    {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+      mes = MSG_ERROR + std::string(ex.what());
+    }
+    diagnostics.add(key, mes);
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+void HesaiHwMonitorWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+{
+  std::scoped_lock lock(mtx_lidar_monitor_);
+  if (current_monitor_)
+  {
+    uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+    std::vector<std::string> msg;
+    diagnostics.add("input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage.value() * 0.01, 3) + " V");
+    diagnostics.add("input_current", GetFixedPrecisionString(current_monitor_->input_current.value() * 0.01, 3) + " m"
+                                                                                                                  "A");
+    diagnostics.add("input_power", GetFixedPrecisionString(current_monitor_->input_power.value() * 0.01, 3) + " W");
+
+    diagnostics.summary(level, boost::algorithm::join(msg, ", "));
+  }
+  else
+  {
+    diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
+  }
+}
+
+Status HesaiHwMonitorWrapper::Status()
+{
+  return Status::NOT_IMPLEMENTED;  // TODO
+}
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file

From 10388c9049fb7e362fd63b92c6c862c550d05fc5 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 16 Apr 2024 17:57:28 +0900
Subject: [PATCH 095/122] chore: update cspell ignore

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 0c03c3c9e..954da496b 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,3 +1,4 @@
+// cspell:ignore piyush, fout
 /**
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,

From 7d78b847aa1af4bebfe552dbefbf34ca2668f917 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:40:54 +0900
Subject: [PATCH 096/122] chore(velodyne_calibration_decoder): fix spelling

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 954da496b..0016e8208 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,4 +1,3 @@
-// cspell:ignore piyush, fout
 /**
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
@@ -7,6 +6,8 @@
  * License: Modified BSD License
  */
 
+// cspell:ignore piyush, piyushk, fout
+
 #include <nebula_common/velodyne/velodyne_calibration_decoder.hpp>
 
 #ifdef HAVE_NEW_YAMLCPP

From a063a5fb2b6548cc54f2b435219e343b06fe2a47 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:43:32 +0900
Subject: [PATCH 097/122] chore(nebula_common): remove debug code

---
 .../nebula_common/util/instrumentation.hpp    | 86 -------------------
 .../util/performance_counter.hpp              | 43 ----------
 .../nebula_common/util/topic_delay.hpp        | 68 ---------------
 3 files changed, 197 deletions(-)
 delete mode 100644 nebula_common/include/nebula_common/util/instrumentation.hpp
 delete mode 100644 nebula_common/include/nebula_common/util/performance_counter.hpp
 delete mode 100644 nebula_common/include/nebula_common/util/topic_delay.hpp

diff --git a/nebula_common/include/nebula_common/util/instrumentation.hpp b/nebula_common/include/nebula_common/util/instrumentation.hpp
deleted file mode 100644
index ccce705d8..000000000
--- a/nebula_common/include/nebula_common/util/instrumentation.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include "nebula_common/util/performance_counter.hpp"
-
-#include <chrono>
-#include <cstdint>
-#include <iostream>
-
-namespace nebula
-{
-namespace util
-{
-
-using namespace std::chrono_literals;
-
-class Instrumentation
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  Instrumentation(std::string tag)
-  : tag_(std::move(tag)), last_print_(clock::now()), delays_(), rtts_()
-  {
-  }
-
-  void tick()
-  {
-    auto now = clock::now();
-
-    if (last_tick_ != time_point::min()) {
-      auto rtt = now - last_tick_;
-      rtts_.update(rtt);
-    }
-
-    last_tick_ = now;
-  }
-
-  void tock()
-  {
-    auto now = clock::now();
-    auto delay = now - last_tick_;
-    delays_.update(delay);
-
-    if (now - last_print_ >= PRINT_INTERVAL) {
-      auto del = delays_.reset();
-      auto rtt = rtts_.reset();
-
-      last_print_ = now;
-
-      std::stringstream ss;
-
-      ss << "{\"type\": \"instrumentation\", \"tag\": \"" << tag_
-         << "\", \"del\": [";
-      
-      for (duration & dt : *del) {
-        ss << dt.count() << ',';
-      }
-
-      ss <<"null], \"rtt\": [";
-
-      for (duration & dt : *rtt) {
-        ss << dt.count() << ',';
-      }
-         
-      ss <<  "null]}" << std::endl;
-
-      std::cout << ss.str();
-    }
-  }
-
-private:
-  std::string tag_;
-
-  time_point last_tick_{time_point::min()};
-  time_point last_print_{time_point::min()};
-
-  Counter delays_;
-  Counter rtts_;
-
-  const duration PRINT_INTERVAL = 1s;
-};
-
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/performance_counter.hpp b/nebula_common/include/nebula_common/util/performance_counter.hpp
deleted file mode 100644
index cd6b618f1..000000000
--- a/nebula_common/include/nebula_common/util/performance_counter.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <chrono>
-#include <cstdint>
-#include <vector>
-
-namespace nebula
-{
-namespace util
-{
-
-class Counter
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  Counter()
-  : buf_record_(), buf_output_()
-  {
-    buf_record_.resize(100000);
-    buf_output_.resize(100000);
-  }
-
-  std::vector<duration> * reset()
-  {
-    buf_record_.swap(buf_output_);
-    buf_record_.clear();
-    return &buf_output_;
-  }
-
-  void update(duration measurement)
-  {
-    buf_record_.push_back(measurement);
-  }
-
-private:
-  std::vector<duration> buf_record_;
-  std::vector<duration> buf_output_;
-};
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_common/include/nebula_common/util/topic_delay.hpp b/nebula_common/include/nebula_common/util/topic_delay.hpp
deleted file mode 100644
index a92ce29a2..000000000
--- a/nebula_common/include/nebula_common/util/topic_delay.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#pragma once
-
-#include <builtin_interfaces/msg/time.hpp>
-
-#include "nebula_common/util/performance_counter.hpp"
-
-
-#include <chrono>
-#include <cstdint>
-#include <iostream>
-
-namespace nebula
-{
-namespace util
-{
-
-using namespace std::chrono_literals;
-
-class TopicDelay
-{
-  using clock = std::chrono::high_resolution_clock;
-  using time_point = clock::time_point;
-  using duration = std::chrono::nanoseconds;
-
-public:
-  TopicDelay(std::string tag) : tag_(std::move(tag)), last_print_(clock::now()), delays_() {}
-
-  void tick(builtin_interfaces::msg::Time & stamp)
-  {
-    auto now = clock::now();
-
-    time_point t_msg = time_point(duration(static_cast<uint64_t>(stamp.sec) * 1'000'000'000ULL + stamp.nanosec));
-    auto delay = now - t_msg;
-
-    delays_.update(delay);
-
-    if (now - last_print_ >= PRINT_INTERVAL) {
-      auto del = delays_.reset();
-
-      last_print_ = now;
-
-      std::stringstream ss;
-
-      ss << "{\"type\": \"topic_delay\", \"tag\": \"" << tag_
-         << "\", \"del\": [";
-      
-      for (duration & dt : *del) {
-        ss << dt.count() << ',';
-      }
-
-      ss <<  "null]}" << std::endl;
-
-      std::cout << ss.str();
-    }
-  }
-
-private:
-  std::string tag_;
-
-  time_point last_print_{time_point::min()};
-
-  Counter delays_;
-
-  const duration PRINT_INTERVAL = 1s;
-};
-
-}  // namespace util
-}  // namespace nebula
\ No newline at end of file

From 9ff53af3e641dd4ad57804e9870da42354bc3f34 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 16:40:54 +0900
Subject: [PATCH 098/122] chore(velodyne_calibration_decoder): fix spelling

---
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index 0016e8208..bfea254b7 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,4 +1,5 @@
 /**
+ * cspell:ignore piyush, piyushk, fout
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
  *                     The University of Texas at Austin

From f3f8f3c58f50eb9e819415ff88bbc8bf63fbff5b Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:11 +0900
Subject: [PATCH 099/122] fix(hesai_decoder):  initialize last_phase to prevent
 empty pointcloud published on startup

---
 .../nebula_decoders_hesai/decoders/hesai_decoder.hpp      | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index 8f28856e8..daf9406cc 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -174,6 +174,10 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @return Whether the scan has completed
   bool checkScanCompleted(uint32_t current_phase, uint32_t sync_phase)
   {
+    if (last_phase_ == -1) {
+      return false;
+    }
+    
     return angle_corrector_.hasScanned(current_phase, last_phase_, sync_phase);
   }
 
@@ -220,6 +224,8 @@ class HesaiDecoder : public HesaiScanDecoder
 
     decode_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
+
+    last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   }
 
   int unpack(const std::vector<uint8_t> & packet) override
@@ -247,7 +253,7 @@ class HesaiDecoder : public HesaiScanDecoder
         sensor_configuration_->scan_phase * SensorT::packet_t::DEGREE_SUBDIVISIONS);
 
       if (scan_completed) {
-        std::swap(decode_pc_, output_pc_);
+          std::swap(decode_pc_, output_pc_);
         decode_pc_->clear();
         has_scanned_ = true;
         output_scan_timestamp_ns_ = decode_scan_timestamp_ns_;

From e3b42f04f8e8560ab5ad9e4bd62a46c7a05b32a7 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:36 +0900
Subject: [PATCH 100/122] fix(nebula_tests): make Hesai tests compile again

---
 nebula_tests/hesai/hesai_ros_decoder_test.cpp | 42 ++++++++-----------
 nebula_tests/hesai/hesai_ros_decoder_test.hpp | 30 +++++++------
 .../hesai/hesai_ros_decoder_test_main.cpp     |  2 +
 3 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
index a07a4dabd..00f33fa1a 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -46,12 +46,11 @@ HesaiRosDecoderTest::HesaiRosDecoderTest(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -59,26 +58,12 @@ HesaiRosDecoderTest::HesaiRosDecoderTest(
 
 Status HesaiRosDecoderTest::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosDecoderTest::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -291,7 +276,6 @@ void HesaiRosDecoderTest::ReadBag(
   storage_options.storage_id = params_.storage_id;
   converter_options.output_serialization_format = params_.format;  //"cdr";
   rclcpp::Serialization<pandar_msgs::msg::PandarScan> serialization;
-  nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
 
   rosbag2_cpp::Reader bag_reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
   bag_reader.open(storage_options, converter_options);
@@ -310,12 +294,20 @@ void HesaiRosDecoderTest::ReadBag(
         "Found data in topic " << bag_message->topic_name << ": " << bag_message->time_stamp);
 
       auto extracted_msg_ptr = std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg);
-      auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr);
-      auto scan_timestamp = std::get<1>(pointcloud_ts);
-      pointcloud = std::get<0>(pointcloud_ts);
 
-      scan_callback(bag_message->time_stamp, scan_timestamp, pointcloud);
-      pointcloud.reset(new nebula::drivers::NebulaPointCloud);
+      for (auto & pkt : extracted_msg_ptr->packets) {
+        auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+        auto pointcloud = std::get<0>(pointcloud_ts);
+        auto scan_timestamp = std::get<1>(pointcloud_ts);
+
+        if (!pointcloud) {
+          continue;
+        }
+
+        std::cerr << "PC size: " << pointcloud->size() << std::endl;
+
+        scan_callback(bag_message->time_stamp, scan_timestamp, pointcloud);
+      }
     }
   }
 }
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.hpp b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
index a0477a366..43996b9ac 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.hpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
@@ -48,9 +48,25 @@ struct HesaiRosDecoderTestParams
   double dual_return_distance_threshold = 0.1;
 };
 
+inline std::ostream & operator<<(std::ostream & os, nebula::ros::HesaiRosDecoderTestParams const & arg) {
+  return os << "sensor_model=" << arg.sensor_model << ", "
+  << "return_mode=" << arg.return_mode << ", "
+  << "calibration_file=" << arg.calibration_file << ", "
+  << "bag_path=" << arg.bag_path << ", "
+  << "correction_file=" << arg.correction_file << ", "
+  << "frame_id=" << arg.frame_id << ", "
+  << "scan_phase=" << arg.scan_phase << ", "
+  << "min_range=" << arg.min_range << ", "
+  << "max_range=" << arg.max_range << ", "
+  << "storage_id=" << arg.storage_id << ", "
+  << "format=" << arg.format << ", "
+  << "target_topic=" << arg.target_topic << ", "
+  << "dual_return_distance_threshold=" << arg.dual_return_distance_threshold << ", ";
+}
+
 /// @brief Testing decoder of pandar 40p (Keeps HesaiDriverRosWrapper structure as much as
 /// possible)
-class HesaiRosDecoderTest final : public rclcpp::Node, NebulaDriverRosWrapperBase  //, testing::Test
+class HesaiRosDecoderTest final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -65,17 +81,7 @@ class HesaiRosDecoderTest final : public rclcpp::Node, NebulaDriverRosWrapperBas
   /// @return Resulting status
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   /// @brief Get configurations (Magic numbers for Pandar40P is described, each function can be
   /// integrated if the ros parameter can be passed to Google Test)
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index 96ff00c3c..d6574ccd4 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -142,6 +142,8 @@ TEST_P(DecoderTest, TestTimezone)
   auto gmt = timezone;
   hesai_driver_->ReadBag(scan_callback);
 
+  ASSERT_GT(decoded_timestamps.size(), 0U);
+
   // Then, reset driver and timestamps vector for the next decode run
   TearDown();
   SetUp();

From cb6fe321f977674e46a5c1358df135a4b0d1d114 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:25:52 +0900
Subject: [PATCH 101/122] fix(nebula_examples): make Hesai examples compile
 again

---
 .../hesai_ros_offline_extract_bag_pcd.hpp     |  9 +-
 .../hesai/hesai_ros_offline_extract_pcd.hpp   | 14 +--
 .../hesai_ros_offline_extract_bag_pcd.cpp     | 91 +++++++++----------
 .../hesai/hesai_ros_offline_extract_pcd.cpp   | 41 ++++-----
 4 files changed, 61 insertions(+), 94 deletions(-)

diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
index a7681323c..5136cbb12 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -35,7 +35,7 @@ namespace nebula
 {
 namespace ros
 {
-class HesaiRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrapperBase
+class HesaiRosOfflineExtractBag final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -46,12 +46,7 @@ class HesaiRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrap
 
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   Status GetParameters(
     drivers::HesaiSensorConfiguration & sensor_configuration,
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
index 711502e6a..8e26515bf 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp
@@ -36,7 +36,7 @@ namespace nebula
 namespace ros
 {
 /// @brief Offline hesai driver usage example (Output PCD data)
-class HesaiRosOfflineExtractSample final : public rclcpp::Node, NebulaDriverRosWrapperBase
+class HesaiRosOfflineExtractSample final : public rclcpp::Node
 {
   std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
   Status wrapper_status_;
@@ -51,17 +51,7 @@ class HesaiRosOfflineExtractSample final : public rclcpp::Node, NebulaDriverRosW
   /// @return Resulting status
   Status InitializeDriver(
     std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) override;
-
-  /// @brief Initializing ros wrapper for AT
-  /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver
-  /// @param correction_configuration CorrectionConfiguration for this driver
-  /// @return Resulting status
-  Status InitializeDriver(
-    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-    std::shared_ptr<drivers::HesaiCorrection> correction_configuration);
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration);
 
   /// @brief Get configurations from ros parameters
   /// @param sensor_configuration Output of SensorConfiguration
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index 9c1266347..02cc84c72 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -56,12 +56,11 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -69,26 +68,12 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
 
 Status HesaiRosOfflineExtractBag::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosOfflineExtractBag::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -328,39 +313,45 @@ Status HesaiRosOfflineExtractBag::ReadBag()
         std::cout << "Found data in topic " << bag_message->topic_name << ": "
                   << bag_message->time_stamp << std::endl;
 
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(
-          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud = std::get<0>(pointcloud_ts);
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-        //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+          auto pointcloud = std::get<0>(pointcloud_ts);
 
-        if (needs_open) {
-          const rosbag2_storage::StorageOptions storage_options_w(
-            {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
-          const rosbag2_cpp::ConverterOptions converter_options_w(
-            {rmw_get_serialization_format(), rmw_get_serialization_format()});
-          writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
-          writer_->open(storage_options_w, converter_options_w);
-          writer_->create_topic(
-            {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
-              ""});
-          needs_open = false;
-        }
-        writer_->write(bag_message);
-        cnt++;
-        if (skip_num < cnt) {
-          out_cnt++;
-          if (only_xyz) {
-            pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
-            pcl::copyPointCloud(*pointcloud, cloud_xyz);
-            writer.writeBinary((o_dir / fn).string(), cloud_xyz);
-          } else {
-            writer.writeBinary((o_dir / fn).string(), *pointcloud);
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+          //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+
+          if (needs_open) {
+            const rosbag2_storage::StorageOptions storage_options_w(
+              {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
+            const rosbag2_cpp::ConverterOptions converter_options_w(
+              {rmw_get_serialization_format(), rmw_get_serialization_format()});
+            writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
+            writer_->open(storage_options_w, converter_options_w);
+            writer_->create_topic(
+              {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
+                ""});
+            needs_open = false;
+          }
+          writer_->write(bag_message);
+          cnt++;
+          if (skip_num < cnt) {
+            out_cnt++;
+            if (only_xyz) {
+              pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
+              pcl::copyPointCloud(*pointcloud, cloud_xyz);
+              writer.writeBinary((o_dir / fn).string(), cloud_xyz);
+            } else {
+              writer.writeBinary((o_dir / fn).string(), *pointcloud);
+            }
+            //          writer.writeASCII((o_dir / fn).string(), *pointcloud);
+          }
+          if (out_num <= out_cnt) {
+            break;
           }
-          //          writer.writeASCII((o_dir / fn).string(), *pointcloud);
-        }
-        if (out_num <= out_cnt) {
-          break;
         }
       }
     }
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
index a57d9b96e..bd992ee19 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
@@ -56,12 +56,11 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
     correction_cfg_ptr_ = std::make_shared<drivers::HesaiCorrection>(correction_configuration);
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_),
-      std::static_pointer_cast<drivers::HesaiCorrection>(correction_cfg_ptr_));
+      correction_cfg_ptr_);
   } else {
     wrapper_status_ = InitializeDriver(
       std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
-      std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
+      calibration_cfg_ptr_);
   }
 
   RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
@@ -69,26 +68,12 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
 
 Status HesaiRosOfflineExtractSample::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration)
+  std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
   // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(calibration_configuration));
-  return driver_ptr_->GetStatus();
-}
-
-Status HesaiRosOfflineExtractSample::InitializeDriver(
-  std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration,
-  std::shared_ptr<drivers::HesaiCorrection> correction_configuration)
-{
-  // driver should be initialized here with proper decoder
-  driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
-    std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
-    std::static_pointer_cast<drivers::HesaiCalibrationConfiguration>(
-      calibration_configuration),  //);
-    std::static_pointer_cast<drivers::HesaiCorrection>(correction_configuration));
+    calibration_configuration);
   return driver_ptr_->GetStatus();
 }
 
@@ -296,12 +281,18 @@ Status HesaiRosOfflineExtractSample::ReadBag()
         //        nebula::drivers::NebulaPointCloudPtr pointcloud =
         //        driver_ptr_->ConvertScanToPointcloud(
         //          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(
-          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
-        auto pointcloud = std::get<0>(pointcloud_ts);
-        auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-        //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
-        writer.writeBinary((o_dir / fn).string(), *pointcloud);
+        for (auto & pkt : extracted_msg.packets) {
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+          auto pointcloud = std::get<0>(pointcloud_ts);
+
+          if (!pointcloud) {
+            continue;
+          }
+
+          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+          //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
+          writer.writeBinary((o_dir / fn).string(), *pointcloud);
+        }
       }
     }
     // close on scope exit

From d45c0eb367bc4d71ef952155959fb4f7d294f89d Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 19:29:03 +0900
Subject: [PATCH 102/122] chore(velodyne_calibration_decoder): fix spelling
 once and for all

---
 .cspell.json                                                | 2 +-
 nebula_common/src/velodyne/velodyne_calibration_decoder.cpp | 3 ---
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/.cspell.json b/.cspell.json
index 5265d4bf1..228d7f45e 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -50,4 +50,4 @@
     "Piyush",
     "fout"
   ]
-}
+}
\ No newline at end of file
diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
index bfea254b7..0c03c3c9e 100644
--- a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
+++ b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -1,5 +1,4 @@
 /**
- * cspell:ignore piyush, piyushk, fout
  * \author  Piyush Khandelwal (piyushk@cs.utexas.edu)
  * Copyright (C) 2012, Austin Robot Technology,
  *                     The University of Texas at Austin
@@ -7,8 +6,6 @@
  * License: Modified BSD License
  */
 
-// cspell:ignore piyush, piyushk, fout
-
 #include <nebula_common/velodyne/velodyne_calibration_decoder.hpp>
 
 #ifdef HAVE_NEW_YAMLCPP

From 012908e7656baba8fce883527fb352f6b7fef42e Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 18 Apr 2024 20:21:56 +0900
Subject: [PATCH 103/122] fix(nebula_examples): fix test failure (remove
 ament_lint_common)

---
 nebula_examples/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_examples/package.xml b/nebula_examples/package.xml
index 6f1163279..f63847cca 100644
--- a/nebula_examples/package.xml
+++ b/nebula_examples/package.xml
@@ -28,8 +28,8 @@
   <depend>velodyne_msgs</depend>
   <depend>yaml-cpp</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

From 34ff9e8a26834920be0cc7cdd0f2d582ba1f820e Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Mon, 22 Apr 2024 11:30:28 +0900
Subject: [PATCH 104/122] fix(hesai_hw_interface): add missing check for PTC
 error, make error type more readable

---
 .../nebula_hw_interfaces_hesai/hesai_hw_interface.hpp            | 1 -
 1 file changed, 1 deletion(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 0bf3a864b..b0a443495 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -102,7 +102,6 @@ const int PTP_LOG_MIN_DELAY_INTERVAL = 0;
 const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
-
 /// @brief Hardware interface of hesai driver
 class HesaiHwInterface : public NebulaHwInterfaceBase
 {

From 3f42a2a9a821c5d702158d6f3c3be66423f63934 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 23 Apr 2024 15:35:45 +0900
Subject: [PATCH 105/122] refactor(hesai): re-introduce parameter update
 mechanism

---
 .../include/nebula_common/nebula_common.hpp   |   6 +-
 .../decoders/angle_corrector.hpp              |   8 +-
 .../angle_corrector_calibration_based.hpp     |   8 +-
 .../angle_corrector_correction_based.hpp      |   4 +-
 .../decoders/hesai_decoder.hpp                |  18 +-
 .../nebula_decoders_hesai/hesai_driver.hpp    |   8 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    |  14 +-
 .../hesai_hw_interface.hpp                    |  18 +-
 .../hesai_hw_interface.cpp                    |  16 +-
 nebula_ros/CMakeLists.txt                     |   1 +
 .../common/parameter_descriptors.hpp          |  41 ++
 .../nebula_ros/hesai/decoder_wrapper.hpp      |  41 +-
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  39 +-
 .../nebula_ros/hesai/hw_interface_wrapper.hpp |   9 +-
 .../nebula_ros/hesai/hw_monitor_wrapper.hpp   |  13 +-
 .../src/common/parameter_descriptors.cpp      |  29 ++
 nebula_ros/src/hesai/decoder_wrapper.cpp      | 118 +++--
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 428 ++++++------------
 nebula_ros/src/hesai/hw_interface_wrapper.cpp |  46 +-
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp   |  17 +-
 20 files changed, 430 insertions(+), 452 deletions(-)
 create mode 100644 nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
 create mode 100644 nebula_ros/src/common/parameter_descriptors.cpp

diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp
index 9d04a267a..cf1eb0841 100644
--- a/nebula_common/include/nebula_common/nebula_common.hpp
+++ b/nebula_common/include/nebula_common/nebula_common.hpp
@@ -346,7 +346,7 @@ enum class PtpProfile {
   IEEE_1588v2 = 0,
   IEEE_802_1AS,
   IEEE_802_1AS_AUTO,
-  PROFILE_UNKNOWN
+  UNKNOWN_PROFILE
 };
 
 enum class PtpTransportType {
@@ -624,7 +624,7 @@ inline PtpProfile PtpProfileFromString(const std::string & ptp_profile)
   if (tmp_str == "802.1as") return PtpProfile::IEEE_802_1AS;
   if (tmp_str == "automotive") return PtpProfile::IEEE_802_1AS_AUTO;
 
-  return PtpProfile::PROFILE_UNKNOWN;
+  return PtpProfile::UNKNOWN_PROFILE;
 }
 
 /// @brief Convert PtpProfile enum to string (Overloading the << operator)
@@ -643,7 +643,7 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::PtpProfile
     case PtpProfile::IEEE_802_1AS_AUTO:
       os << "IEEE_802.1AS Automotive";
       break;
-    case PtpProfile::PROFILE_UNKNOWN:
+    case PtpProfile::UNKNOWN_PROFILE:
       os << "UNKNOWN";
       break;
   }
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
index 42fd0a008..121913c34 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
@@ -26,13 +26,13 @@ struct CorrectedAngleData
 class AngleCorrector
 {
 protected:
-  const std::shared_ptr<HesaiCalibrationConfiguration> sensor_calibration_;
-  const std::shared_ptr<HesaiCorrection> sensor_correction_;
+  const std::shared_ptr<const HesaiCalibrationConfiguration> sensor_calibration_;
+  const std::shared_ptr<const HesaiCorrection> sensor_correction_;
 
 public:
   AngleCorrector(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : sensor_calibration_(sensor_calibration), sensor_correction_(sensor_correction)
   {
   }
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
index 3e0c999b0..bee570afc 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
@@ -27,8 +27,8 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
 
 public:
   AngleCorrectorCalibrationBased(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : AngleCorrector(sensor_calibration, sensor_correction)
   {
     if (sensor_calibration == nullptr) {
@@ -37,8 +37,8 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
     }
 
     for (size_t channel_id = 0; channel_id < ChannelN; ++channel_id) {
-      float elevation_angle_deg = sensor_calibration->elev_angle_map[channel_id];
-      float azimuth_offset_deg = sensor_calibration->azimuth_offset_map[channel_id];
+      float elevation_angle_deg = sensor_calibration->elev_angle_map.at(channel_id);
+      float azimuth_offset_deg = sensor_calibration->azimuth_offset_map.at(channel_id);
 
       elevation_angle_rad_[channel_id] = deg2rad(elevation_angle_deg);
       azimuth_offset_rad_[channel_id] = deg2rad(azimuth_offset_deg);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
index be60078de..d23dfc1f2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
@@ -43,8 +43,8 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
 
 public:
   AngleCorrectorCorrectionBased(
-    const std::shared_ptr<HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<HesaiCorrection> & sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
+    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
   : AngleCorrector(sensor_calibration, sensor_correction),
     logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
   {
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index daf9406cc..e8a9afc34 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -18,7 +18,7 @@ class HesaiDecoder : public HesaiScanDecoder
 {
 protected:
   /// @brief Configuration for this decoder
-  const std::shared_ptr<drivers::HesaiSensorConfiguration> sensor_configuration_;
+  const std::shared_ptr<const drivers::HesaiSensorConfiguration> sensor_configuration_;
 
   /// @brief The sensor definition, used for return mode and time offset handling
   SensorT sensor_{};
@@ -34,13 +34,13 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @brief The last decoded packet
   typename SensorT::packet_t packet_;
   /// @brief The last azimuth processed
-  int last_phase_;
+  int last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   /// @brief The timestamp of the last completed scan in nanoseconds
-  uint64_t output_scan_timestamp_ns_;
+  uint64_t output_scan_timestamp_ns_ = 0;
   /// @brief The timestamp of the scan currently in progress
-  uint64_t decode_scan_timestamp_ns_;
+  uint64_t decode_scan_timestamp_ns_ = 0;
   /// @brief Whether a full scan has been processed
-  bool has_scanned_;
+  bool has_scanned_ = false;
 
   rclcpp::Logger logger_;
 
@@ -209,9 +209,9 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @param correction_configuration Correction for this decoder (can be nullptr if
   /// calibration_configuration is set)
   explicit HesaiDecoder(
-    const std::shared_ptr<HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<HesaiCorrection> & correction_configuration)
+    const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & calibration_configuration,
+    const std::shared_ptr<const HesaiCorrection> & correction_configuration)
   : sensor_configuration_(sensor_configuration),
     angle_corrector_(calibration_configuration, correction_configuration),
     logger_(rclcpp::get_logger("HesaiDecoder"))
@@ -224,8 +224,6 @@ class HesaiDecoder : public HesaiScanDecoder
 
     decode_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
-
-    last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
   }
 
   int unpack(const std::vector<uint8_t> & packet) override
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index 5ee9892d4..87798dbd1 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -22,7 +22,7 @@ namespace nebula
 namespace drivers
 {
 /// @brief Hesai driver
-class HesaiDriver : NebulaDriverBase
+class HesaiDriver
 {
 private:
   /// @brief Current driver status
@@ -37,8 +37,8 @@ class HesaiDriver : NebulaDriverBase
   /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
   /// for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-      const std::shared_ptr<drivers::HesaiSensorConfiguration>& sensor_configuration,
-      const std::shared_ptr<drivers::CalibrationConfigurationBase>& calibration_configuration = nullptr);
+      const std::shared_ptr<const drivers::HesaiSensorConfiguration>& sensor_configuration,
+      const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase>& calibration_configuration = nullptr);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -47,7 +47,7 @@ class HesaiDriver : NebulaDriverBase
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(const CalibrationConfigurationBase& calibration_configuration) override;
+  Status SetCalibrationConfiguration(const HesaiCalibrationConfigurationBase& calibration_configuration);
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index 27624a469..beafd8e71 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,22 +17,22 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(const std::shared_ptr<HesaiSensorConfiguration>& sensor_configuration,
-                         const std::shared_ptr<CalibrationConfigurationBase>& calibration_configuration)
+HesaiDriver::HesaiDriver(const std::shared_ptr<const HesaiSensorConfiguration>& sensor_configuration,
+                         const std::shared_ptr<const HesaiCalibrationConfigurationBase>& calibration_configuration)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
 
-  std::shared_ptr<HesaiCalibrationConfiguration> calibration = nullptr;
-  std::shared_ptr<HesaiCorrection> correction = nullptr;
+  std::shared_ptr<const HesaiCalibrationConfiguration> calibration = nullptr;
+  std::shared_ptr<const HesaiCorrection> correction = nullptr;
 
   if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
   {
-    correction = std::static_pointer_cast<HesaiCorrection>(calibration_configuration);
+    correction = std::static_pointer_cast<const HesaiCorrection>(calibration_configuration);
   }
   else
   {
-    calibration = std::static_pointer_cast<HesaiCalibrationConfiguration>(calibration_configuration);
+    calibration = std::static_pointer_cast<const HesaiCalibrationConfiguration>(calibration_configuration);
   }
 
   switch (sensor_configuration->sensor_model)
@@ -104,7 +104,7 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
 }
 
 Status HesaiDriver::SetCalibrationConfiguration(
-  const CalibrationConfigurationBase & calibration_configuration)
+  const HesaiCalibrationConfigurationBase & calibration_configuration)
 {
   throw std::runtime_error(
     "SetCalibrationConfiguration. Not yet implemented (" +
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index b0a443495..d3472afbe 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -103,7 +103,7 @@ const int HESAI_LIDAR_GPS_CLOCK_SOURCE = 0;
 const int HESAI_LIDAR_PTP_CLOCK_SOURCE = 1;
 
 /// @brief Hardware interface of hesai driver
-class HesaiHwInterface : public NebulaHwInterfaceBase
+class HesaiHwInterface
 {
 private:
   struct ptc_error_t
@@ -120,10 +120,12 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
   std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration_;
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration_;
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
+  std::mutex mtx_inflight_tcp_request_;
+
   int prev_phase_{};
 
   bool is_solid_state = false;
@@ -195,14 +197,14 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
   /// @brief Starting the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStart() final;
+  Status SensorInterfaceStart();
   /// @brief Function for stopping the interface that handles UDP streams
   /// @return Resulting status
-  Status SensorInterfaceStop() final;
+  Status SensorInterfaceStop();
   /// @brief Printing sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
-  Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration) final;
+  Status GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration);
   /// @brief Printing calibration configuration
   /// @param calibration_configuration CalibrationConfiguration for the checking
   /// @return Resulting status
@@ -211,7 +213,7 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   /// @param sensor_configuration SensorConfiguration for this interface
   /// @return Resulting status
   Status SetSensorConfiguration(
-    std::shared_ptr<SensorConfigurationBase> sensor_configuration) final;
+    std::shared_ptr<const SensorConfigurationBase> sensor_configuration);
   /// @brief Registering callback for PandarScan
   /// @param scan_callback Callback function
   /// @return Resulting status
@@ -382,13 +384,13 @@ class HesaiHwInterface : public NebulaHwInterfaceBase
   /// @param hesai_config Current HesaiConfig
   /// @return Resulting status
   HesaiStatus CheckAndSetConfig(
-    std::shared_ptr<HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config);
+    std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config);
   /// @brief Checking the current settings and changing the difference point
   /// @param sensor_configuration Current SensorConfiguration
   /// @param hesai_lidar_range_all Current HesaiLidarRangeAll
   /// @return Resulting status
   HesaiStatus CheckAndSetConfig(
-    std::shared_ptr<HesaiSensorConfiguration> sensor_configuration,
+    std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration,
     HesaiLidarRangeAll hesai_lidar_range_all);
   /// @brief Checking the current settings and changing the difference point
   /// @return Resulting status
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 5a40b6b60..4db22ceb8 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -28,6 +28,8 @@ HesaiHwInterface::~HesaiHwInterface()
 HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   const uint8_t command_id, const std::vector<uint8_t> & payload)
 {
+  std::lock_guard lock(mtx_inflight_tcp_request_);
+
   uint32_t len = payload.size();
 
   std::vector<uint8_t> send_buf;
@@ -120,10 +122,10 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
 }
 
 Status HesaiHwInterface::SetSensorConfiguration(
-  std::shared_ptr<SensorConfigurationBase> sensor_configuration)
+  std::shared_ptr<const SensorConfigurationBase> sensor_configuration)
 {
   sensor_configuration_ =
-    std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration);
+    std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration);
   return Status::OK;
 }
 
@@ -175,7 +177,7 @@ Status HesaiHwInterface::SensorInterfaceStop()
   return Status::ERROR_1;
 }
 
-Status HesaiHwInterface::GetSensorConfiguration(SensorConfigurationBase & sensor_configuration)
+Status HesaiHwInterface::GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration)
 {
   std::stringstream ss;
   ss << sensor_configuration;
@@ -808,7 +810,7 @@ HesaiStatus HesaiHwInterface::GetLidarMonitorAsyncHttp(
 }
 
 HesaiStatus HesaiHwInterface::CheckAndSetConfig(
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config)
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config)
 {
   using namespace std::chrono_literals;
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
@@ -967,7 +969,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 }
 
 HesaiStatus HesaiHwInterface::CheckAndSetConfig(
-  std::shared_ptr<HesaiSensorConfiguration> sensor_configuration,
+  std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration,
   HesaiLidarRangeAll hesai_lidar_range_all)
 {
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
@@ -1031,7 +1033,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig()
     ss << result;
     PrintInfo(ss.str());
     CheckAndSetConfig(
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration_), result);
+      std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration_), result);
   });
   t.join();
 
@@ -1041,7 +1043,7 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig()
     ss << result;
     PrintInfo(ss.str());
     CheckAndSetConfig(
-      std::static_pointer_cast<HesaiSensorConfiguration>(sensor_configuration_), result);
+      std::static_pointer_cast<const HesaiSensorConfiguration>(sensor_configuration_), result);
   });
   t2.join();
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index b11339765..324d38074 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -40,6 +40,7 @@ ament_auto_add_library(hesai_ros_wrapper SHARED
         src/hesai/decoder_wrapper.cpp
         src/hesai/hw_interface_wrapper.cpp
         src/hesai/hw_monitor_wrapper.cpp
+        src/common/parameter_descriptors.cpp
         )
 
 rclcpp_components_register_node(hesai_ros_wrapper
diff --git a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
new file mode 100644
index 000000000..b54d8ad63
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+#include <rcl_interfaces/msg/parameter.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace nebula
+{
+namespace ros
+{
+
+rcl_interfaces::msg::ParameterDescriptor param_read_write();
+
+rcl_interfaces::msg::ParameterDescriptor param_read_only();
+
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop,
+                                                                                 double step);
+
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step);
+
+/// @brief Get a parameter's value from a list of parameters, if that parameter is in the list.
+/// @tparam T The parameter's expected value type
+/// @param p A vector of parameters
+/// @param name Target parameter name
+/// @param value (out) Parameter value. Set if parameter is found, left untouched otherwise.
+/// @return Whether the target name existed
+template <typename T>
+bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
+{
+  auto it = std::find_if(p.cbegin(), p.cend(),
+                         [&name](const rclcpp::Parameter & parameter) { return parameter.get_name() == name; });
+  if (it != p.cend())
+  {
+    value = it->template get_value<T>();
+    return true;
+  }
+  return false;
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
index 262c16839..3b2af26d4 100644
--- a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -2,17 +2,19 @@
 
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 
-#include <nebula_common/nebula_common.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/nebula_common.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
-#include <memory>
 #include <filesystem>
+#include <memory>
+#include <mutex>
 
 namespace nebula
 {
@@ -20,22 +22,38 @@ namespace ros
 {
 class HesaiDecoderWrapper
 {
+  using get_calibration_result_t =
+      nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>;
+
 public:
   HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                       const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                      std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
-
-  nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
-  GetCalibrationData();
+                      std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
   void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
 
-  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config);
+
+  void
+  OnCalibrationChange(const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration);
+
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
 
   nebula::Status Status();
 
 private:
+  /// @brief Load calibration data from the best available source:
+  /// 1. If sensor connected, download and save from sensor
+  /// 2. If downloaded file available, load that file
+  /// 3. Load the file given by `calibration_file_path`
+  /// @param calibration_file_path The file to use if no better option is available
+  /// @param ignore_others If true, skip straight so step 3 above, ignoring better calibration options
+  /// @return The calibration data if successful, or an error code if not
+  get_calibration_result_t GetCalibrationData(const std::string& calibration_file_path, bool ignore_others = false);
+
+  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+
   /// @brief Convert seconds to chrono::nanoseconds
   /// @param seconds
   /// @return chrono::nanoseconds
@@ -48,12 +66,13 @@ class HesaiDecoderWrapper
   rclcpp::Logger logger_;
 
   const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
-  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> sensor_cfg_;
 
   std::string calibration_file_path_{};
-  std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_cfg_ptr_{};
+  std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> calibration_cfg_ptr_{};
 
-  std::shared_ptr<drivers::HesaiDriver> driver_ptr_;
+  std::shared_ptr<drivers::HesaiDriver> driver_ptr_{};
+  std::mutex mtx_driver_ptr_;
 
   rclcpp::Publisher<pandar_msgs::msg::PandarScan>::SharedPtr packets_pub_{};
   pandar_msgs::msg::PandarScan::UniquePtr current_scan_msg_{};
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index e037bce40..42d8bdc36 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "boost_tcp_driver/tcp_driver.hpp"
+
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
@@ -9,6 +10,7 @@
 #include "nebula_ros/hesai/hw_interface_wrapper.hpp"
 #include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
 #include "nebula_ros/hesai/mt_queue.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -31,31 +33,12 @@ namespace nebula
 namespace ros
 {
 
-/// @brief Get parameter from rclcpp::Parameter
-/// @tparam T
-/// @param p Parameter from rclcpp parameter callback
-/// @param name Target parameter name
-/// @param value Corresponding value
-/// @return Whether the target name existed
-template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
-{
-  auto it = std::find_if(p.cbegin(), p.cend(),
-                         [&name](const rclcpp::Parameter& parameter) { return parameter.get_name() == name; });
-  if (it != p.cend())
-  {
-    value = it->template get_value<T>();
-    return true;
-  }
-  return false;
-}
-
 /// @brief Ros wrapper of hesai driver
 class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
   explicit HesaiRosWrapper(const rclcpp::NodeOptions& options);
-  ~HesaiRosWrapper() noexcept;
+  ~HesaiRosWrapper() noexcept {};
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -72,23 +55,16 @@ class HesaiRosWrapper final : public rclcpp::Node
 
   Status DeclareAndGetSensorConfigParams();
 
-  /// @brief Get configurations from ros parameters
-  /// @param sensor_configuration Output of SensorConfiguration
-  /// @return Resulting status
-  Status DeclareAndGetWrapperParams();
-
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter>& parameters);
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
 
-  /// @brief Updating rclcpp parameter
-  /// @return SetParametersResult
-  std::vector<rcl_interfaces::msg::SetParametersResult> updateParameters();
+  Status ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config);
 
   Status wrapper_status_;
 
-  std::shared_ptr<nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> sensor_cfg_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
   mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
@@ -104,7 +80,8 @@ class HesaiRosWrapper final : public rclcpp::Node
   std::optional<HesaiDecoderWrapper> decoder_wrapper_;
 
   std::mutex mtx_config_;
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_{};
+
+  OnSetParametersCallbackHandle::SharedPtr parameter_event_cb_;
 };
 
 }  // namespace ros
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
index 30f069c99..cbf78d130 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -1,8 +1,10 @@
 #pragma once
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 #include <nebula_common/hesai/hesai_common.hpp>
-#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
@@ -15,9 +17,9 @@ class HesaiHwInterfaceWrapper
 {
 public:
   HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
-                          std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+                          std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
-  nebula::Status InitializeHwInterface();
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
 
   nebula::Status Status();
 
@@ -27,6 +29,7 @@ class HesaiHwInterfaceWrapper
   std::shared_ptr<drivers::HesaiHwInterface> hw_interface_;
   rclcpp::Logger logger_;
   nebula::Status status_;
+  bool setup_sensor_;
 };
 }  // namespace ros
 }  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
index 5ddfc9e79..5209f64a2 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
@@ -1,7 +1,10 @@
 #pragma once
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
+
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -22,10 +25,13 @@ class HesaiHwMonitorWrapper
 public:
   HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
                         const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                        std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config);
+                        std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
 
-  nebula::Status InitializeHwMonitor();
+  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & /* new_config */) {}
+
+  nebula::Status Status();
 
+private:
   void InitializeHesaiDiagnostics();
 
   std::string GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key);
@@ -50,9 +56,6 @@ class HesaiHwMonitorWrapper
 
   void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
 
-  nebula::Status Status();
-
-private:
   rclcpp::Logger logger_;
   diagnostic_updater::Updater diagnostics_updater_;
   nebula::Status status_;
diff --git a/nebula_ros/src/common/parameter_descriptors.cpp b/nebula_ros/src/common/parameter_descriptors.cpp
new file mode 100644
index 000000000..ffd0fff37
--- /dev/null
+++ b/nebula_ros/src/common/parameter_descriptors.cpp
@@ -0,0 +1,29 @@
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
+namespace nebula
+{
+namespace ros
+{
+
+rcl_interfaces::msg::ParameterDescriptor param_read_write()
+{
+  return rcl_interfaces::msg::ParameterDescriptor{};
+};
+
+rcl_interfaces::msg::ParameterDescriptor param_read_only()
+{
+  return rcl_interfaces::msg::ParameterDescriptor{}.set__read_only(true);
+}
+
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop, double step)
+{
+  return { rcl_interfaces::msg::FloatingPointRange().set__from_value(start).set__to_value(stop).set__step(step) };
+}
+
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step)
+{
+  return { rcl_interfaces::msg::IntegerRange().set__from_value(start).set__to_value(stop).set__step(step) };
+}
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 1ae6d2837..1b7c10582 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -7,7 +7,7 @@ namespace ros
 
 HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                                          const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                         std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+                                         std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : status_(nebula::Status::NOT_INITIALIZED)
   , logger_(parent_node->get_logger().get_child("HesaiDecoder"))
   , hw_interface_(hw_interface)
@@ -20,26 +20,14 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
 
   if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<std::string>("correction_file", "", descriptor);
-    calibration_file_path_ = parent_node->get_parameter("correction_file").as_string();
+    calibration_file_path_ = parent_node->declare_parameter<std::string>("correction_file", "", param_read_write());
   }
   else
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_file_path_ = parent_node->get_parameter("calibration_file").as_string();
+    calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
   }
 
-  auto calibration_result = GetCalibrationData();
+  auto calibration_result = GetCalibrationData(calibration_file_path_, false);
 
   if (!calibration_result.has_value())
   {
@@ -78,8 +66,64 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
 }
 
-nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>
-HesaiDecoderWrapper::GetCalibrationData()
+void HesaiDecoderWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::HesaiDriver>(new_config, calibration_cfg_ptr_);
+  driver_ptr_ = new_driver;
+  sensor_cfg_ = new_config;
+}
+
+void HesaiDecoderWrapper::OnCalibrationChange(
+    const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration)
+{
+  std::lock_guard lock(mtx_driver_ptr_);
+  auto new_driver = std::make_shared<drivers::HesaiDriver>(sensor_cfg_, new_calibration);
+  driver_ptr_ = new_driver;
+  calibration_cfg_ptr_ = new_calibration;
+  calibration_file_path_ = calibration_cfg_ptr_->calibration_file;
+}
+
+rcl_interfaces::msg::SetParametersResult HesaiDecoderWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+{
+  using namespace rcl_interfaces::msg;
+
+  std::string calibration_path = "";
+
+  // Only one of the two parameters is defined, so not checking for sensor model explicitly here is fine
+  bool got_any = get_param(p, "calibration_file", calibration_path) | get_param(p, "correction_file", calibration_path);
+  if (!got_any)
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
+  if (!std::filesystem::exists(calibration_path))
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = "The given calibration path does not exist, ignoring: '" + calibration_path + "'";
+    return result;
+  }
+
+  auto get_calibration_result = GetCalibrationData(calibration_path, true);
+  if (!get_calibration_result.has_value())
+  {
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Could not change calibration file to '" << calibration_path
+                                         << "': " << get_calibration_result.error())
+                        .str();
+    return result;
+  }
+
+  OnCalibrationChange(get_calibration_result.value());
+  RCLCPP_INFO_STREAM(logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+}
+
+HesaiDecoderWrapper::get_calibration_result_t
+HesaiDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path, bool ignore_others)
 {
   std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calib;
 
@@ -96,16 +140,15 @@ HesaiDecoderWrapper::GetCalibrationData()
   std::string calibration_file_path_from_sensor;
 
   {
-    int ext_pos = calibration_file_path_.find_last_of('.');
-    calibration_file_path_from_sensor = calibration_file_path_.substr(0, ext_pos);
+    int ext_pos = calibration_file_path.find_last_of('.');
+    calibration_file_path_from_sensor = calibration_file_path.substr(0, ext_pos);
     // TODO: if multiple different sensors of the same type are used, this will mix up their calibration data
     calibration_file_path_from_sensor += "_from_sensor";
-    calibration_file_path_from_sensor +=
-        calibration_file_path_.substr(ext_pos, calibration_file_path_.size() - ext_pos);
+    calibration_file_path_from_sensor += calibration_file_path.substr(ext_pos, calibration_file_path.size() - ext_pos);
   }
 
   // If a sensor is connected, try to download and save its calibration data
-  if (hw_connected)
+  if (!ignore_others && hw_connected)
   {
     try
     {
@@ -128,7 +171,7 @@ HesaiDecoderWrapper::GetCalibrationData()
   }
 
   // If saved calibration data from a sensor exists (either just downloaded above, or previously), try to load it
-  if (std::filesystem::exists(calibration_file_path_from_sensor))
+  if (!ignore_others && std::filesystem::exists(calibration_file_path_from_sensor))
   {
     auto status = calib->LoadFromFile(calibration_file_path_from_sensor);
     if (status == Status::OK)
@@ -139,31 +182,34 @@ HesaiDecoderWrapper::GetCalibrationData()
 
     RCLCPP_ERROR_STREAM(logger_, "Could not load downloaded calibration data: " << status);
   }
-  else
+  else if (!ignore_others)
   {
     RCLCPP_ERROR(logger_, "No downloaded calibration data found.");
   }
 
-  RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+  if (!ignore_others)
+  {
+    RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
+  }
 
   // If downloaded data did not exist or could not be loaded, fall back to a generic file.
   // If that file does not exist either, return an error code
-  if (!std::filesystem::exists(calibration_file_path_))
+  if (!std::filesystem::exists(calibration_file_path))
   {
     RCLCPP_ERROR(logger_, "No calibration data found.");
     return nebula::Status(Status::INVALID_CALIBRATION_FILE);
   }
 
   // Try to load the existing fallback calibration file. Return an error if this fails
-  auto status = calib->LoadFromFile(calibration_file_path_);
+  auto status = calib->LoadFromFile(calibration_file_path);
   if (status != Status::OK)
   {
-    RCLCPP_ERROR(logger_, "Could not load fallback calibration file.");
+    RCLCPP_ERROR_STREAM(logger_, "Could not load calibration file at '" << calibration_file_path << "'");
     return status;
   }
 
   // Return the fallback calibration file
-  calib->calibration_file = calibration_file_path_;
+  calib->calibration_file = calibration_file_path;
   return calib;
 }
 
@@ -185,9 +231,13 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     current_scan_msg_->packets.emplace_back(std::move(pandar_packet_msg));
   }
 
-  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts =
-      driver_ptr_->ParseCloudPacket(packet_msg->data);
-  nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts);
+  std::tuple<nebula::drivers::NebulaPointCloudPtr, double> pointcloud_ts{};
+  nebula::drivers::NebulaPointCloudPtr pointcloud = nullptr;
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud_ts = driver_ptr_->ParseCloudPacket(packet_msg->data);
+    pointcloud = std::get<0>(pointcloud_ts);
+  }
 
   if (pointcloud == nullptr)
   {
@@ -244,6 +294,8 @@ void HesaiDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCl
 
 nebula::Status HesaiDecoderWrapper::Status()
 {
+  std::lock_guard lock(mtx_driver_ptr_);
+
   if (!driver_ptr_)
   {
     return nebula::Status::NOT_INITIALIZED;
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index e99e5c6d9..1bce59ffe 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -16,7 +16,15 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   wrapper_status_ = DeclareAndGetSensorConfigParams();
-  wrapper_status_ = DeclareAndGetWrapperParams();
+
+  if (wrapper_status_ != Status::OK)
+  {
+    throw std::runtime_error((std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+  }
+
+  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
+
+  launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
   if (launch_hw_)
   {
@@ -27,10 +35,6 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
   decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
                            sensor_cfg_ptr_);
 
-  RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
-  set_param_res_ =
-      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::paramCallback, this, std::placeholders::_1));
-
   RCLCPP_DEBUG(get_logger(), "Starting stream");
 
   decoder_thread_ = std::thread([this]() {
@@ -42,263 +46,164 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
 
   if (launch_hw_)
   {
-    StreamStart();
     hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
         std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+    StreamStart();
   }
   else
   {
     packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
         "pandar_packets", rclcpp::SensorDataQoS(),
         std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
-    RCLCPP_INFO_STREAM(get_logger(), "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
+    RCLCPP_INFO_STREAM(get_logger(),
+                       "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
   }
+
+  // Register parameter callback after all params have been declared. Otherwise it would be called once for each
+  // declaration
+  parameter_event_cb_ =
+      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::OnParameterChange, this, std::placeholders::_1));
 }
 
 nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
 {
-  nebula::drivers::HesaiSensorConfiguration sensor_configuration;
+  nebula::drivers::HesaiSensorConfiguration config;
+
+  auto _sensor_model = declare_parameter<std::string>("sensor_model", "", param_read_only());
+  config.sensor_model = drivers::SensorModelFromString(_sensor_model);
+
+  auto _return_mode = declare_parameter<std::string>("return_mode", "", param_read_write());
+  config.return_mode = drivers::ReturnModeFromStringHesai(_return_mode, config.sensor_model);
+
+  config.host_ip = declare_parameter<std::string>("host_ip", "255.255.255.255", param_read_only());
+  config.sensor_ip = declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
+  config.data_port = declare_parameter<uint16_t>("data_port", 2368, param_read_only());
+  config.gnss_port = declare_parameter<uint16_t>("gnss_port", 2369, param_read_only());
+  config.frame_id = declare_parameter<std::string>("frame_id", "pandar", param_read_write());
 
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-        nebula::drivers::SensorModelFromString(get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringHesai(
-        get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("host_ip", "255.255.255.255", descriptor);
-    sensor_configuration.host_ip = get_parameter("host_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("sensor_ip", "192.168.1.201", descriptor);
-    sensor_configuration.sensor_ip = get_parameter("sensor_ip").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("data_port", 2368, descriptor);
-    sensor_configuration.data_port = get_parameter("data_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("gnss_port", 2369, descriptor);
-    sensor_configuration.gnss_port = get_parameter("gnss_port").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = { range };
-    declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<double>("min_range", 0.3, descriptor);
-    sensor_configuration.min_range = get_parameter("min_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<double>("max_range", 300., descriptor);
-    sensor_configuration.max_range = get_parameter("max_range").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<uint16_t>("packet_mtu_size", 1500, descriptor);
-    sensor_configuration.packet_mtu_size = get_parameter("packet_mtu_size").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.])";
+    descriptor.floating_point_range = float_range(0, 360, 0.01);
+    config.scan_phase = declare_parameter<double>("scan_phase", 0., descriptor);
   }
+
+  config.min_range = declare_parameter<double>("min_range", 0.3, param_read_write());
+  config.max_range = declare_parameter<double>("max_range", 300., param_read_write());
+  config.packet_mtu_size = declare_parameter<uint16_t>("packet_mtu_size", 1500, param_read_only());
+
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    RCLCPP_DEBUG_STREAM(get_logger(), sensor_configuration.sensor_model);
-    if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    uint16_t default_value;
+    RCLCPP_DEBUG_STREAM(get_logger(), config.sensor_model);
+    if (config.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
     {
-      descriptor.additional_constraints = "200, 300, 400, 500";
-      // range.set__from_value(200).set__to_value(500).set__step(100);
-      // descriptor.integer_range = {range}; //todo
-      declare_parameter<uint16_t>("rotation_speed", 200, descriptor);
+      descriptor.additional_constraints = "200, 400";
+      descriptor.integer_range = int_range(200, 400, 200);
+      default_value = 200;
     }
     else
     {
       descriptor.additional_constraints = "300, 600, 1200";
-      // range.set__from_value(300).set__to_value(1200).set__step(300);
-      // descriptor.integer_range = {range}; //todo
-      declare_parameter<uint16_t>("rotation_speed", 600, descriptor);
+      descriptor.integer_range = int_range(300, 1200, 300);
+      default_value = 600;
     }
-    sensor_configuration.rotation_speed = get_parameter("rotation_speed").as_int();
+    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", default_value, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
-    sensor_configuration.cloud_min_angle = get_parameter("cloud_min_angle").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_min_angle = declare_parameter<uint16_t>("cloud_min_angle", 0, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(360).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
-    sensor_configuration.cloud_max_angle = get_parameter("cloud_max_angle").as_int();
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
+    descriptor.integer_range = int_range(0, 360, 1);
+    config.cloud_max_angle = declare_parameter<uint16_t>("cloud_max_angle", 360, descriptor);
   }
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0.01).set__to_value(0.5).set__step(0.01);
-    descriptor.floating_point_range = { range };
-    declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
-    sensor_configuration.dual_return_distance_threshold = get_parameter("dual_return_distance_threshold").as_double();
+    descriptor.floating_point_range = float_range(0.01, 0.5, 0.01);
+    config.dual_return_distance_threshold =
+        declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
   }
+
+  auto _ptp_profile = declare_parameter<std::string>("ptp_profile", "", param_read_only());
+  config.ptp_profile = drivers::PtpProfileFromString(_ptp_profile);
+
+  auto _ptp_transport = declare_parameter<std::string>("ptp_transport_type", "", param_read_only());
+  config.ptp_transport_type = drivers::PtpTransportTypeFromString(_ptp_transport);
+
+  if (config.ptp_transport_type != drivers::PtpTransportType::L2 &&
+      config.ptp_profile != drivers::PtpProfile::IEEE_1588v2 &&
+      config.ptp_profile != drivers::PtpProfile::UNKNOWN_PROFILE)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_profile", "");
-    sensor_configuration.ptp_profile = nebula::drivers::PtpProfileFromString(get_parameter("ptp_profile").as_string());
+    RCLCPP_WARN_STREAM(get_logger(), "PTP transport was set to '" << _ptp_transport << "' but PTP profile '"
+                                                                  << _ptp_profile
+                                                                  << "' only supports 'L2'. Setting it to 'L2'.");
+    config.ptp_transport_type = drivers::PtpTransportType::L2;
+    set_parameter(rclcpp::Parameter("ptp_transport_type", "L2"));
   }
+
+  auto _ptp_switch = declare_parameter<std::string>("ptp_switch_type", "", param_read_only());
+  config.ptp_switch_type = drivers::PtpSwitchTypeFromString(_ptp_switch);
+
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_transport_type", "");
-    sensor_configuration.ptp_transport_type =
-        nebula::drivers::PtpTransportTypeFromString(get_parameter("ptp_transport_type").as_string());
-    if (static_cast<int>(sensor_configuration.ptp_profile) > 0)
-    {
-      sensor_configuration.ptp_transport_type = nebula::drivers::PtpTransportType::L2;
-    }
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_only();
+    descriptor.integer_range = int_range(0, 127, 1);
+    config.ptp_domain = declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
   }
+
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::HesaiSensorConfiguration>(config);
+  return ValidateAndSetConfig(new_cfg_ptr);
+}
+
+Status HesaiRosWrapper::ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config)
+{
+  if (new_config->sensor_model == nebula::drivers::SensorModel::UNKNOWN)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<std::string>("ptp_switch_type", "");
-    sensor_configuration.ptp_switch_type =
-        nebula::drivers::PtpSwitchTypeFromString(get_parameter("ptp_switch_type").as_string());
+    return Status::INVALID_SENSOR_MODEL;
   }
+  if (new_config->return_mode == nebula::drivers::ReturnMode::UNKNOWN)
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    rcl_interfaces::msg::IntegerRange range;
-    range.set__from_value(0).set__to_value(127).set__step(1);
-    descriptor.integer_range = { range };
-    declare_parameter<uint8_t>("ptp_domain", 0, descriptor);
-    sensor_configuration.ptp_domain = get_parameter("ptp_domain").as_int();
+    return Status::INVALID_ECHO_MODE;
   }
-
-  if (sensor_configuration.ptp_profile == nebula::drivers::PtpProfile::PROFILE_UNKNOWN)
+  if (new_config->frame_id.empty())
+  {
+    return Status::SENSOR_CONFIG_ERROR;
+  }
+  if (new_config->ptp_profile == nebula::drivers::PtpProfile::UNKNOWN_PROFILE)
   {
     RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
+  if (new_config->ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
   {
     RCLCPP_ERROR_STREAM(get_logger(),
                         "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
                         "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
+  if (new_config->ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
   {
     RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN)
+
+  if (hw_interface_wrapper_)
   {
-    return Status::INVALID_SENSOR_MODEL;
+    hw_interface_wrapper_->OnConfigChange(new_config);
   }
-  if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN)
+  if (hw_monitor_wrapper_)
   {
-    return Status::INVALID_ECHO_MODE;
+    hw_monitor_wrapper_->OnConfigChange(new_config);
   }
-  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360)
+  if (decoder_wrapper_)
   {
-    return Status::SENSOR_CONFIG_ERROR;
+    decoder_wrapper_->OnConfigChange(new_config);
   }
 
-  auto new_cfg_ptr_ = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(sensor_configuration);
-  sensor_cfg_ptr_.swap(new_cfg_ptr_);
+  sensor_cfg_ptr_ = new_config;
   return Status::OK;
 }
 
@@ -326,25 +231,6 @@ Status HesaiRosWrapper::GetStatus()
   return wrapper_status_;
 }
 
-Status HesaiRosWrapper::DeclareAndGetWrapperParams()
-{
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    declare_parameter<bool>("launch_hw", "", descriptor);
-    launch_hw_ = get_parameter("launch_hw").as_bool();
-  }
-
-  return Status::OK;
-}
-
-HesaiRosWrapper::~HesaiRosWrapper()
-{
-}
-
 Status HesaiRosWrapper::StreamStart()
 {
   if (!hw_interface_wrapper_)
@@ -360,74 +246,60 @@ Status HesaiRosWrapper::StreamStart()
   return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::paramCallback(const std::vector<rclcpp::Parameter>& p)
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
 {
+  using namespace rcl_interfaces::msg;
+
+  if (p.empty())
+  {
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
+  }
+
   std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback");
-  RCLCPP_DEBUG_STREAM(get_logger(), p);
-  RCLCPP_DEBUG_STREAM(get_logger(), *sensor_cfg_ptr_);
+
+  RCLCPP_INFO(get_logger(), "OnParameterChange");
 
   drivers::HesaiSensorConfiguration new_cfg(*sensor_cfg_ptr_);
 
-  std::string sensor_model_str;
-  std::string return_mode_str;
-  if (get_param(p, "sensor_model", sensor_model_str) | get_param(p, "return_mode", return_mode_str) |
-      get_param(p, "host_ip", new_cfg.host_ip) | get_param(p, "sensor_ip", new_cfg.sensor_ip) |
-      get_param(p, "frame_id", new_cfg.frame_id) | get_param(p, "data_port", new_cfg.data_port) |
-      get_param(p, "gnss_port", new_cfg.gnss_port) | get_param(p, "scan_phase", new_cfg.scan_phase) |
-      get_param(p, "packet_mtu_size", new_cfg.packet_mtu_size) |
-      get_param(p, "rotation_speed", new_cfg.rotation_speed) |
-      get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
-      get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
-      get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold))
+  std::string _return_mode = "";
+  bool got_any = get_param(p, "return_mode", _return_mode) | get_param(p, "frame_id", new_cfg.frame_id) |
+                 get_param(p, "scan_phase", new_cfg.scan_phase) | get_param(p, "min_range", new_cfg.min_range) |
+                 get_param(p, "max_range", new_cfg.max_range) | get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+                 get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+                 get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
+                 get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold);
+
+  // Currently, HW interface and monitor wrappers have only read-only parameters, so their update logic is not
+  // implemented
+  if (decoder_wrapper_)
+  {
+    auto result = decoder_wrapper_->OnParameterChange(p);
+    if (!result.successful) {
+      return result;
+    }
+  }
+
+  if (!got_any)
   {
-    if (0 < sensor_model_str.length())
-      new_cfg.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str);
-    if (0 < return_mode_str.length())
-      new_cfg.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str);
-
-    auto new_cfg_ptr = std::make_shared<nebula::drivers::HesaiSensorConfiguration>(new_cfg);
-    sensor_cfg_ptr_.swap(new_cfg_ptr);
-    RCLCPP_INFO_STREAM(get_logger(), "Update sensor_configuration");
-    RCLCPP_DEBUG_STREAM(get_logger(), "hw_interface_.SetSensorConfiguration");
-    hw_interface_wrapper_->HwInterface()->SetSensorConfiguration(
-        std::static_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_));
-    hw_interface_wrapper_->HwInterface()->CheckAndSetConfig();
+    return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
   }
 
-  auto result = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-  result->successful = true;
-  result->reason = "success";
+  if (_return_mode.length() > 0)
+    new_cfg.return_mode = nebula::drivers::ReturnModeFromString(_return_mode);
 
-  RCLCPP_DEBUG_STREAM(get_logger(), "add_on_set_parameters_callback success");
+  auto new_cfg_ptr = std::make_shared<const nebula::drivers::HesaiSensorConfiguration>(new_cfg);
+  auto status = ValidateAndSetConfig(new_cfg_ptr);
 
-  return *result;
-}
+  if (status != Status::OK)
+  {
+    RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
+    auto result = SetParametersResult();
+    result.successful = false;
+    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    return result;
+  }
 
-std::vector<rcl_interfaces::msg::SetParametersResult> HesaiRosWrapper::updateParameters()
-{
-  std::scoped_lock lock(mtx_config_);
-  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters start");
-  std::ostringstream os_sensor_model;
-  os_sensor_model << sensor_cfg_ptr_->sensor_model;
-  std::ostringstream os_return_mode;
-  os_return_mode << sensor_cfg_ptr_->return_mode;
-  RCLCPP_INFO_STREAM(get_logger(), "set_parameters");
-  auto results = set_parameters(
-      { rclcpp::Parameter("sensor_model", os_sensor_model.str()),
-        rclcpp::Parameter("return_mode", os_return_mode.str()), rclcpp::Parameter("host_ip", sensor_cfg_ptr_->host_ip),
-        rclcpp::Parameter("sensor_ip", sensor_cfg_ptr_->sensor_ip),
-        rclcpp::Parameter("frame_id", sensor_cfg_ptr_->frame_id),
-        rclcpp::Parameter("data_port", sensor_cfg_ptr_->data_port),
-        rclcpp::Parameter("gnss_port", sensor_cfg_ptr_->gnss_port),
-        rclcpp::Parameter("scan_phase", sensor_cfg_ptr_->scan_phase),
-        rclcpp::Parameter("packet_mtu_size", sensor_cfg_ptr_->packet_mtu_size),
-        rclcpp::Parameter("rotation_speed", sensor_cfg_ptr_->rotation_speed),
-        rclcpp::Parameter("cloud_min_angle", sensor_cfg_ptr_->cloud_min_angle),
-        rclcpp::Parameter("cloud_max_angle", sensor_cfg_ptr_->cloud_max_angle),
-        rclcpp::Parameter("dual_return_distance_threshold", sensor_cfg_ptr_->dual_return_distance_threshold) });
-  RCLCPP_DEBUG_STREAM(get_logger(), "updateParameters end");
-  return results;
+  return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
 }
 
 void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
index e38f6b181..c10319c1e 100644
--- a/nebula_ros/src/hesai/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -5,36 +5,20 @@ namespace nebula
 namespace ros
 {
 
-HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
-                                                 std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
+    rclcpp::Node* const parent_node, std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : hw_interface_(new nebula::drivers::HesaiHwInterface())
   , logger_(parent_node->get_logger().get_child("HwInterface"))
   , status_(Status::NOT_INITIALIZED)
 {
-  bool setup_sensor, retry_connect;
+  setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", true, param_read_only());
+  bool retry_connect = parent_node->declare_parameter<bool>("retry_hw", true, param_read_only());
 
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<bool>("setup_sensor", true, descriptor);
-    setup_sensor = parent_node->get_parameter("setup_sensor").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    parent_node->declare_parameter<bool>("retry_hw", true, descriptor);
-    retry_connect = parent_node->get_parameter("retry_hw").as_bool();
-  }
-
-  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<drivers::SensorConfigurationBase>(config));
+  status_ = hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const drivers::SensorConfigurationBase>(config));
 
-  status_ = Status::OK;
+  if (status_ != Status::OK) {
+    throw std::runtime_error((std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+  }
 
   hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
   hw_interface_->SetTargetModel(config->sensor_model);
@@ -51,7 +35,7 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
 
     retry_count++;
     std::this_thread::sleep_for(std::chrono::milliseconds(8000));  // >5000
-    RCLCPP_WARN_STREAM(logger_, "Retry: " << retry_count);
+    RCLCPP_WARN_STREAM(logger_, status_ << ". Retry #" << retry_count);
   }
 
   if (status_ == Status::OK)
@@ -66,10 +50,9 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
     {
       RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor...");
     }
-    if (setup_sensor)
+    if (setup_sensor_)
     {
       hw_interface_->CheckAndSetConfig();
-      // updateParameters(); TODO
     }
   }
   else
@@ -80,6 +63,15 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node
   status_ = Status::OK;
 }
 
+void HesaiHwInterfaceWrapper::OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+{
+  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const nebula::drivers::SensorConfigurationBase>(new_config));
+  if (setup_sensor_) {
+    hw_interface_->CheckAndSetConfig();
+  }
+}
+
 Status HesaiHwInterfaceWrapper::Status()
 {
   return status_;
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index 579e32a4e..0a56bec57 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -6,22 +6,14 @@ namespace ros
 {
 HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
                                              const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                             std::shared_ptr<nebula::drivers::HesaiSensorConfiguration>& config)
+                                             std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
   : logger_(parent_node->get_logger().get_child("HwMonitor"))
   , diagnostics_updater_(parent_node)
   , status_(Status::OK)
   , hw_interface_(hw_interface)
   , parent_node_(parent_node)
 {
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-    descriptor.read_only = false;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "milliseconds";
-    parent_node->declare_parameter<uint16_t>("diag_span", 1000, descriptor);
-    diag_span_ = parent_node->get_parameter("diag_span").as_int();
-  }
+  diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", 1000, param_read_only());
 
   switch (config->sensor_model)
   {
@@ -66,11 +58,6 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
   RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
   RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
   InitializeHesaiDiagnostics();
-
-  if (Status::OK != status_)
-  {
-    throw std::runtime_error((std::stringstream() << "Error getting calibration data: " << status_).str());
-  }
 }
 
 void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()

From 9d89ff1d5bacc8483570f7878d5362b8a339efef Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 23 Apr 2024 16:58:52 +0900
Subject: [PATCH 106/122] feat(hesai_ros): add watchdog timer for pointcloud
 output

---
 .../nebula_ros/common/watchdog_timer.hpp      | 52 +++++++++++++++++++
 .../nebula_ros/hesai/decoder_wrapper.hpp      |  3 ++
 nebula_ros/src/hesai/decoder_wrapper.cpp      | 10 ++++
 3 files changed, 65 insertions(+)
 create mode 100644 nebula_ros/include/nebula_ros/common/watchdog_timer.hpp

diff --git a/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
new file mode 100644
index 000000000..ae556e33e
--- /dev/null
+++ b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <cstdint>
+#include <atomic>
+#include <chrono>
+#include <functional>
+
+namespace nebula
+{
+namespace ros
+{
+
+class WatchdogTimer
+{
+  using watchdog_cb_t = std::function<void(bool)>;
+
+public:
+  WatchdogTimer(rclcpp::Node& node, const std::chrono::microseconds& expected_update_interval, const watchdog_cb_t& callback)
+    : node_(node)
+    , callback_(callback)
+    , expected_update_interval_ns_(
+          std::chrono::duration_cast<std::chrono::nanoseconds>(expected_update_interval).count())
+  {
+    timer_ = node_.create_wall_timer(expected_update_interval, std::bind(&WatchdogTimer::onTimer, this));
+  }
+
+  void update()
+  {
+    last_update_ns_ = node_.get_clock()->now().nanoseconds();
+  }
+
+private:
+  void onTimer()
+  {
+    uint64_t now_ns = node_.get_clock()->now().nanoseconds();
+
+    bool is_late = (now_ns - last_update_ns_) > expected_update_interval_ns_;
+
+    callback_(!is_late);
+  }
+
+  rclcpp::Node& node_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::atomic<uint64_t> last_update_ns_;
+  const watchdog_cb_t callback_;
+
+  const uint64_t expected_update_interval_ns_;
+};
+
+}  // namespace ros
+}  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
index 3b2af26d4..da5e60ff0 100644
--- a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -3,6 +3,7 @@
 #include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
 #include "nebula_ros/common/parameter_descriptors.hpp"
+#include "nebula_ros/common/watchdog_timer.hpp"
 
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/nebula_common.hpp>
@@ -80,6 +81,8 @@ class HesaiDecoderWrapper
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr nebula_points_pub_{};
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_ex_pub_{};
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr aw_points_base_pub_{};
+
+  std::shared_ptr<WatchdogTimer> cloud_watchdog_;
 };
 }  // namespace ros
 }  // namespace nebula
\ No newline at end of file
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 1b7c10582..0ddfd599e 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -5,6 +5,8 @@ namespace nebula
 namespace ros
 {
 
+using namespace std::chrono_literals;
+
 HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
                                          const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
                                          std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
@@ -64,6 +66,12 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
   aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
 
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
+
+  cloud_watchdog_ = std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
+    if (ok)
+      return;
+    RCLCPP_WARN_THROTTLE(logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
+  });
 }
 
 void HesaiDecoderWrapper::OnConfigChange(
@@ -246,6 +254,8 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     return;
   };
 
+  cloud_watchdog_->update();
+
   // Publish scan message only if it has been written to
   if (current_scan_msg_ && !current_scan_msg_->packets.empty())
   {

From df702eb073f234a26cd3694066c583582938eca6 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 25 Apr 2024 18:29:33 +0900
Subject: [PATCH 107/122] fix(hesai): change to possibly more accurate
 high_resolution_clock

---
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 1bce59ffe..6e08c0e3b 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -309,7 +309,7 @@ void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
     return;
   }
 
-  const auto now = std::chrono::system_clock::now();
+  const auto now = std::chrono::high_resolution_clock::now();
   const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
 
   auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();

From 54ce7ead76c75e775246eac189ee429160635844 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Thu, 25 Apr 2024 18:34:02 +0900
Subject: [PATCH 108/122] fix(hesai): fix crash on QT128

---
 .../hesai_hw_interface.cpp                    | 47 ++++++++++++-------
 1 file changed, 31 insertions(+), 16 deletions(-)

diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 4db22ceb8..ac05a5485 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -261,8 +261,10 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagStatus)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagStatus)) {
+    throw std::runtime_error("HesaiPtpDiagStatus has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagStatus)) {
+    PrintError("HesaiPtpDiagStatus from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagStatus hesai_ptp_diag_status;
@@ -280,9 +282,12 @@ HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagPort)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagPort)) {
+    throw std::runtime_error("HesaiPtpDiagPort has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagPort)) {
+    PrintError("HesaiPtpDiagPort from Sensor has unknown format. Will parse anyway.");
   }
+
   HesaiPtpDiagPort hesai_ptp_diag_port;
   memcpy(&hesai_ptp_diag_port, response.data(), sizeof(HesaiPtpDiagPort));
 
@@ -298,8 +303,10 @@ HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagTime)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagTime)) {
+    throw std::runtime_error("HesaiPtpDiagTime has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagTime)) {
+    PrintError("HesaiPtpDiagTime from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagTime hesai_ptp_diag_time;
@@ -317,8 +324,10 @@ HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiPtpDiagGrandmaster)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiPtpDiagGrandmaster)) {
+    throw std::runtime_error("HesaiPtpDiagGrandmaster has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiPtpDiagGrandmaster)) {
+    PrintError("HesaiPtpDiagGrandmaster from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiPtpDiagGrandmaster hesai_ptp_diag_grandmaster;
@@ -337,7 +346,7 @@ HesaiInventory HesaiHwInterface::GetInventory()
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiInventory)) {
-    throw std::runtime_error("Unexpected payload size");
+    throw std::runtime_error("HesaiInventory has unexpected payload size");
   } else if (response.size() > sizeof(HesaiInventory)) {
     PrintError("HesaiInventory from Sensor has unknown format. Will parse anyway.");
   }
@@ -353,8 +362,10 @@ HesaiConfig HesaiHwInterface::GetConfig()
   auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiConfig)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiConfig)) {
+    throw std::runtime_error("HesaiConfig has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiConfig)) {
+    PrintError("HesaiConfig from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiConfig hesai_config;
@@ -369,8 +380,10 @@ HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiLidarStatus)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiLidarStatus)) {
+    throw std::runtime_error("HesaiLidarStatus has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiLidarStatus)) {
+    PrintError("HesaiLidarStatus from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiLidarStatus hesai_status;
@@ -589,7 +602,7 @@ HesaiPtpConfig HesaiHwInterface::GetPtpConfig()
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
   if (response.size() < sizeof(HesaiPtpConfig)) {
-    throw std::runtime_error("Unexpected payload size");
+    throw std::runtime_error("HesaiPtpConfig has unexpected payload size");
   } else if (response.size() > sizeof(HesaiPtpConfig)) {
     PrintError("HesaiPtpConfig from Sensor has unknown format. Will parse anyway.");
   }
@@ -629,8 +642,10 @@ HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
   auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
 
-  if (response.size() != sizeof(HesaiLidarMonitor)) {
-    throw std::runtime_error("Unexpected payload size");
+  if (response.size() < sizeof(HesaiLidarMonitor)) {
+    throw std::runtime_error("HesaiLidarMonitor has unexpected payload size");
+  } else if (response.size() > sizeof(HesaiLidarMonitor)) {
+    PrintError("HesaiLidarMonitor from Sensor has unknown format. Will parse anyway.");
   }
 
   HesaiLidarMonitor hesai_lidar_monitor;

From ddab198fa26f43f15d3bc91b80a6040787af93ff Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 11:14:00 +0900
Subject: [PATCH 109/122] refactor(hesai_hw_interface): refactor repeated error
 handling code

---
 .../hesai_hw_interface.hpp                    |   6 +
 .../hesai_hw_interface.cpp                    | 116 +++++-------------
 2 files changed, 35 insertions(+), 87 deletions(-)

diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index d3472afbe..8dc270b8e 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -168,6 +168,12 @@ class HesaiHwInterface
   /// @return A string description of all errors in this code
   std::string PrettyPrintPTCError(ptc_error_t error_code);
 
+  /// @brief Checks if the data size matches that of the struct to be parsed, and parses the struct.
+  /// If data is too small, a std::runtime_error is thrown. If data is too large, a warning is printed
+  /// and the struct is parsed with the first sizeof(T) bytes.
+  template <typename T>
+  T CheckSizeAndParse(const std::vector<uint8_t> & data);
+
   /// @brief Send a PTC request with an optional payload, and return the full response payload.
   /// Blocking.
   /// @param command_id PTC command number.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index ac05a5485..a28ffd7d2 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -260,117 +260,66 @@ HesaiPtpDiagStatus HesaiHwInterface::GetPtpDiagStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_STATUS});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagStatus)) {
-    throw std::runtime_error("HesaiPtpDiagStatus has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagStatus)) {
-    PrintError("HesaiPtpDiagStatus from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagStatus hesai_ptp_diag_status;
-  memcpy(&hesai_ptp_diag_status, response.data(), sizeof(HesaiPtpDiagStatus));
+  auto diag_status = CheckSizeAndParse<HesaiPtpDiagStatus>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagStatus: " << hesai_ptp_diag_status;
+  ss << "HesaiHwInterface::GetPtpDiagStatus: " << diag_status;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_status;
+  return diag_status;
 }
 
 HesaiPtpDiagPort HesaiHwInterface::GetPtpDiagPort()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_PORT_DATA_SET});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagPort)) {
-    throw std::runtime_error("HesaiPtpDiagPort has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagPort)) {
-    PrintError("HesaiPtpDiagPort from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagPort hesai_ptp_diag_port;
-  memcpy(&hesai_ptp_diag_port, response.data(), sizeof(HesaiPtpDiagPort));
+  auto diag_port = CheckSizeAndParse<HesaiPtpDiagPort>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagPort: " << hesai_ptp_diag_port;
+  ss << "HesaiHwInterface::GetPtpDiagPort: " << diag_port;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_port;
+  return diag_port;
 }
 
 HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_TIME_STATUS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagTime)) {
-    throw std::runtime_error("HesaiPtpDiagTime has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagTime)) {
-    PrintError("HesaiPtpDiagTime from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagTime hesai_ptp_diag_time;
-  memcpy(&hesai_ptp_diag_time, response.data(), sizeof(HesaiPtpDiagTime));
+  auto diag_time = CheckSizeAndParse<HesaiPtpDiagTime>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagTime: " << hesai_ptp_diag_time;
+  ss << "HesaiHwInterface::GetPtpDiagTime: " << diag_time;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_time;
+  return diag_time;
 }
 
 HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiPtpDiagGrandmaster)) {
-    throw std::runtime_error("HesaiPtpDiagGrandmaster has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiPtpDiagGrandmaster)) {
-    PrintError("HesaiPtpDiagGrandmaster from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiPtpDiagGrandmaster hesai_ptp_diag_grandmaster;
-  memcpy(&hesai_ptp_diag_grandmaster, response.data(), sizeof(HesaiPtpDiagGrandmaster));
+  auto diag_grandmaster = CheckSizeAndParse<HesaiPtpDiagGrandmaster>(response);
 
   std::stringstream ss;
-  ss << "HesaiHwInterface::GetPtpDiagGrandmaster: " << hesai_ptp_diag_grandmaster;
+  ss << "HesaiHwInterface::GetPtpDiagGrandmaster: " << diag_grandmaster;
   PrintInfo(ss.str());
 
-  return hesai_ptp_diag_grandmaster;
+  return diag_grandmaster;
 }
 
 HesaiInventory HesaiHwInterface::GetInventory()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_INVENTORY_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiInventory)) {
-    throw std::runtime_error("HesaiInventory has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiInventory)) {
-    PrintError("HesaiInventory from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiInventory hesai_inventory;
-  memcpy(&hesai_inventory, response.data(), sizeof(HesaiInventory));
-
-  return hesai_inventory;
+  return CheckSizeAndParse<HesaiInventory>(response);
 }
 
 HesaiConfig HesaiHwInterface::GetConfig()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_CONFIG_INFO);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiConfig)) {
-    throw std::runtime_error("HesaiConfig has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiConfig)) {
-    PrintError("HesaiConfig from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiConfig hesai_config;
-  memcpy(&hesai_config, response.data(), sizeof(HesaiConfig));
-
+  auto hesai_config = CheckSizeAndParse<HesaiConfig>(response);
   std::cout << "Config: " << hesai_config << std::endl;
   return hesai_config;
 }
@@ -379,17 +328,7 @@ HesaiLidarStatus HesaiHwInterface::GetLidarStatus()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_STATUS);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiLidarStatus)) {
-    throw std::runtime_error("HesaiLidarStatus has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiLidarStatus)) {
-    PrintError("HesaiLidarStatus from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiLidarStatus hesai_status;
-  memcpy(&hesai_status, response.data(), sizeof(HesaiLidarStatus));
-
-  return hesai_status;
+  return CheckSizeAndParse<HesaiLidarStatus>(response);
 }
 
 Status HesaiHwInterface::SetSpinRate(uint16_t rpm)
@@ -641,17 +580,7 @@ HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_LIDAR_MONITOR);
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
-
-  if (response.size() < sizeof(HesaiLidarMonitor)) {
-    throw std::runtime_error("HesaiLidarMonitor has unexpected payload size");
-  } else if (response.size() > sizeof(HesaiLidarMonitor)) {
-    PrintError("HesaiLidarMonitor from Sensor has unknown format. Will parse anyway.");
-  }
-
-  HesaiLidarMonitor hesai_lidar_monitor;
-  memcpy(&hesai_lidar_monitor, response.data(), sizeof(HesaiLidarMonitor));
-
-  return hesai_lidar_monitor;
+  return CheckSizeAndParse<HesaiLidarMonitor>(response);
 }
 
 void HesaiHwInterface::IOContextRun()
@@ -1323,5 +1252,18 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
   return ss.str();
 }
 
+template <typename T>
+T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data) {
+  if (data.size() < sizeof(T)) {
+    throw std::runtime_error("Attempted to parse too-small payload");
+  } else if (data.size() > sizeof(T)) {
+    PrintError("Sensor returned longer payload than expected. Will parse anyway.");
+  }
+
+  T parsed;
+  memcpy(&parsed, data.data(), sizeof(T));
+  return parsed;
+}
+
 }  // namespace drivers
 }  // namespace nebula

From 09f074af0f7e242160f5cbc7636e50ba75d63f54 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 13:20:08 +0900
Subject: [PATCH 110/122] fix(hesai_launch_all_hw.xml): set valid RPM when
 AT128 is selected

---
 nebula_ros/launch/hesai_launch_all_hw.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index 1bd285766..b0f804441 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -33,6 +33,8 @@
     <let name="debug_level" value="debug" if="$(eval $(var debug_logging))"/>
     <let name="debug_level" value="info" unless="$(eval $(var debug_logging))"/>
 
+    <let name="rotation_speed" value="200" if="$(eval '\'$(var sensor_model)\' == \'PandarAT128\'')"/>
+
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container" 
         output="screen" ros_args="--log-level $(var debug_level)" namespace="">
         <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"

From be1a7e781091bf34c5072d95c9f87571af605976 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Tue, 30 Apr 2024 13:20:49 +0900
Subject: [PATCH 111/122] refactor(hesai_decoder): remove redundant arguments
 for correction/calibration

---
 .../decoders/angle_corrector.hpp              | 12 +---
 .../angle_corrector_calibration_based.hpp     |  6 +-
 .../angle_corrector_correction_based.hpp      | 27 +++++----
 .../decoders/hesai_decoder.hpp                | 10 +---
 .../nebula_decoders_hesai/hesai_driver.hpp    | 22 ++++++--
 .../nebula_decoders_hesai/hesai_driver.cpp    | 56 +++++++++----------
 6 files changed, 63 insertions(+), 70 deletions(-)

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
index 121913c34..914d2da49 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
@@ -23,19 +23,11 @@ struct CorrectedAngleData
 
 /// @brief Handles angle correction for given azimuth/channel combinations, as well as trigonometry
 /// lookup tables
+template <typename CorrectionDataT>
 class AngleCorrector
 {
-protected:
-  const std::shared_ptr<const HesaiCalibrationConfiguration> sensor_calibration_;
-  const std::shared_ptr<const HesaiCorrection> sensor_correction_;
-
 public:
-  AngleCorrector(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : sensor_calibration_(sensor_calibration), sensor_correction_(sensor_correction)
-  {
-  }
+  using correction_data_t = CorrectionDataT;
 
   /// @brief Get the corrected azimuth and elevation for a given block and channel, along with their
   /// sin/cos values.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
index bee570afc..d2c078e2d 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
@@ -11,7 +11,7 @@ namespace drivers
 {
 
 template <size_t ChannelN, size_t AngleUnit>
-class AngleCorrectorCalibrationBased : public AngleCorrector
+class AngleCorrectorCalibrationBased : public AngleCorrector<HesaiCalibrationConfiguration>
 {
 private:
   static constexpr size_t MAX_AZIMUTH_LEN = 360 * AngleUnit;
@@ -27,9 +27,7 @@ class AngleCorrectorCalibrationBased : public AngleCorrector
 
 public:
   AngleCorrectorCalibrationBased(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
-    const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : AngleCorrector(sensor_calibration, sensor_correction)
+    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration)
   {
     if (sensor_calibration == nullptr) {
       throw std::runtime_error(
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
index d23dfc1f2..52cbaf315 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
@@ -13,10 +13,11 @@ namespace drivers
 {
 
 template <size_t ChannelN, size_t AngleUnit>
-class AngleCorrectorCorrectionBased : public AngleCorrector
+class AngleCorrectorCorrectionBased : public AngleCorrector<HesaiCorrection>
 {
 private:
   static constexpr size_t MAX_AZIMUTH_LENGTH = 360 * AngleUnit;
+  const std::shared_ptr<const HesaiCorrection> correction_;
   rclcpp::Logger logger_;
 
   std::array<float, MAX_AZIMUTH_LENGTH> cos_{};
@@ -31,26 +32,25 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
     // * none of the startFrames are defined as > 360 deg (< 0 not possible since they are unsigned)
     // * the fields are arranged in ascending order (e.g. field 1: 20-140deg, field 2: 140-260deg etc.)
     // These assumptions hold for AT128E2X.
-    int field = sensor_correction_->frameNumber - 1;
-    for (size_t i = 0; i < sensor_correction_->frameNumber; ++i) {
-      if (azimuth < sensor_correction_->startFrame[i]) return field;
+    int field = correction_->frameNumber - 1;
+    for (size_t i = 0; i < correction_->frameNumber; ++i) {
+      if (azimuth < correction_->startFrame[i]) return field;
       field = i;
     }
 
-    // This is never reached if sensor_correction_ is correct
+    // This is never reached if correction_ is correct
     return field;
   }
 
 public:
   AngleCorrectorCorrectionBased(
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & sensor_calibration,
     const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : AngleCorrector(sensor_calibration, sensor_correction),
+  : correction_(sensor_correction),
     logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
   {
     if (sensor_correction == nullptr) {
       throw std::runtime_error(
-        "Cannot instantiate AngleCorrectorCalibrationBased without calibration data");
+        "Cannot instantiate AngleCorrectorCorrectionBased without correction data");
     }
 
     logger_.set_level(rclcpp::Logger::Level::Debug);
@@ -64,17 +64,16 @@ class AngleCorrectorCorrectionBased : public AngleCorrector
 
   CorrectedAngleData getCorrectedAngleData(uint32_t block_azimuth, uint32_t channel_id) override
   {
-    const auto & correction = AngleCorrector::sensor_correction_;
     int field = findField(block_azimuth);
 
     auto elevation =
-      correction->elevation[channel_id] +
-      correction->getElevationAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
+      correction_->elevation[channel_id] +
+      correction_->getElevationAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
     elevation = (MAX_AZIMUTH_LENGTH + elevation) % MAX_AZIMUTH_LENGTH;
 
-    auto azimuth = (block_azimuth + MAX_AZIMUTH_LENGTH - correction->startFrame[field]) * 2 -
-                   correction->azimuth[channel_id] +
-                   correction->getAzimuthAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
+    auto azimuth = (block_azimuth + MAX_AZIMUTH_LENGTH - correction_->startFrame[field]) * 2 -
+                   correction_->azimuth[channel_id] +
+                   correction_->getAzimuthAdjustV3(channel_id, block_azimuth) * (AngleUnit / 100);
     azimuth = (MAX_AZIMUTH_LENGTH + azimuth) % MAX_AZIMUTH_LENGTH;
 
     float azimuth_rad = 2.f * azimuth * M_PI / MAX_AZIMUTH_LENGTH;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index e8a9afc34..ea5dbe727 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -204,16 +204,12 @@ class HesaiDecoder : public HesaiScanDecoder
 public:
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this decoder
-  /// @param calibration_configuration Calibration for this decoder (can be nullptr if
-  /// correction_configuration is set)
-  /// @param correction_configuration Correction for this decoder (can be nullptr if
-  /// calibration_configuration is set)
+  /// @param correction_data Calibration data for this decoder
   explicit HesaiDecoder(
     const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<const HesaiCalibrationConfiguration> & calibration_configuration,
-    const std::shared_ptr<const HesaiCorrection> & correction_configuration)
+    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> & correction_data)
   : sensor_configuration_(sensor_configuration),
-    angle_corrector_(calibration_configuration, correction_configuration),
+    angle_corrector_(correction_data),
     logger_(rclcpp::get_logger("HesaiDecoder"))
   {
     logger_.set_level(rclcpp::Logger::Level::Debug);
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index 87798dbd1..099e022c5 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -16,6 +16,7 @@
 #include <iostream>
 #include <stdexcept>
 #include <string>
+#include <memory>
 
 namespace nebula
 {
@@ -30,15 +31,22 @@ class HesaiDriver
   /// @brief Decoder according to the model
   std::shared_ptr<HesaiScanDecoder> scan_decoder_;
 
+  template <typename SensorT>
+  std::shared_ptr<HesaiScanDecoder> InitializeDecoder(
+    const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+      calibration_configuration);
+
 public:
   HesaiDriver() = delete;
   /// @brief Constructor
   /// @param sensor_configuration SensorConfiguration for this driver
-  /// @param calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration
-  /// for sensors other than AT128 or HesaiCorrection for AT128)
+  /// @param calibration_configuration CalibrationConfiguration for this driver (either
+  /// HesaiCalibrationConfiguration for sensors other than AT128 or HesaiCorrection for AT128)
   explicit HesaiDriver(
-      const std::shared_ptr<const drivers::HesaiSensorConfiguration>& sensor_configuration,
-      const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase>& calibration_configuration = nullptr);
+    const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+    const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+      calibration_configuration);
 
   /// @brief Get current status of this driver
   /// @return Current status
@@ -47,12 +55,14 @@ class HesaiDriver
   /// @brief Setting CalibrationConfiguration (not used)
   /// @param calibration_configuration
   /// @return Resulting status
-  Status SetCalibrationConfiguration(const HesaiCalibrationConfigurationBase& calibration_configuration);
+  Status SetCalibrationConfiguration(
+    const HesaiCalibrationConfigurationBase & calibration_configuration);
 
   /// @brief Convert PandarScan message to point cloud
   /// @param pandar_scan Message
   /// @return tuple of Point cloud and timestamp
-  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(const std::vector<uint8_t>& packet);
+  std::tuple<drivers::NebulaPointCloudPtr, double> ParseCloudPacket(
+    const std::vector<uint8_t> & packet);
 };
 
 }  // namespace drivers
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index beafd8e71..c8aea2b40 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -17,64 +17,62 @@ namespace nebula
 {
 namespace drivers
 {
-HesaiDriver::HesaiDriver(const std::shared_ptr<const HesaiSensorConfiguration>& sensor_configuration,
-                         const std::shared_ptr<const HesaiCalibrationConfigurationBase>& calibration_configuration)
+HesaiDriver::HesaiDriver(
+  const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const HesaiCalibrationConfigurationBase> & calibration_data)
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
 
-  std::shared_ptr<const HesaiCalibrationConfiguration> calibration = nullptr;
-  std::shared_ptr<const HesaiCorrection> correction = nullptr;
-
-  if (sensor_configuration->sensor_model == SensorModel::HESAI_PANDARAT128)
-  {
-    correction = std::static_pointer_cast<const HesaiCorrection>(calibration_configuration);
-  }
-  else
-  {
-    calibration = std::static_pointer_cast<const HesaiCalibrationConfiguration>(calibration_configuration);
-  }
-
-  switch (sensor_configuration->sensor_model)
-  {
-    case SensorModel::UNKNOWN:
-      driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
-      break;
+  switch (sensor_configuration->sensor_model) {
     case SensorModel::HESAI_PANDAR64:
-      scan_decoder_.reset(new HesaiDecoder<Pandar64>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar64>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR40P:
     case SensorModel::HESAI_PANDAR40M:
-      scan_decoder_.reset(new HesaiDecoder<Pandar40>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar40>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARQT64:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT64>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarQT64>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARQT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarQT128>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarQT128>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARXT32:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarXT32>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARXT32M:
-      scan_decoder_.reset(new HesaiDecoder<PandarXT32M>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarXT32M>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDARAT128:
-      scan_decoder_.reset(new HesaiDecoder<PandarAT128>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<PandarAT128>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR128_E3X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E3X>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar128E3X>(sensor_configuration, calibration_data);
       break;
     case SensorModel::HESAI_PANDAR128_E4X:
-      scan_decoder_.reset(new HesaiDecoder<Pandar128E4X>(sensor_configuration, calibration, correction));
+      scan_decoder_ = InitializeDecoder<Pandar128E4X>(sensor_configuration, calibration_data);
       break;
+    case SensorModel::UNKNOWN:
+      driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
+      throw std::runtime_error("Invalid sensor model.");
     default:
       driver_status_ = nebula::Status::NOT_INITIALIZED;
       throw std::runtime_error("Driver not Implemented for selected sensor.");
-      break;
   }
 }
 
+template <typename SensorT>
+std::shared_ptr<HesaiScanDecoder> HesaiDriver::InitializeDecoder(
+  const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
+  const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
+    calibration_configuration)
+{
+  using CalibT = typename SensorT::angle_corrector_t::correction_data_t;
+  return std::make_shared<HesaiDecoder<SensorT>>(
+    sensor_configuration, std::dynamic_pointer_cast<const CalibT>(calibration_configuration));
+}
+
 std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
   const std::vector<uint8_t> & packet)
 {

From 00fefb41b5c04850bc1cef6ca0f123f445c39bd3 Mon Sep 17 00:00:00 2001
From: Maximilian Schmeller <maximilian.schmeller@tier4.jp>
Date: Sat, 11 May 2024 20:18:09 +0900
Subject: [PATCH 112/122] refactor(nebula_ros): move mt_queue to common

---
 nebula_ros/include/nebula_ros/{hesai => common}/mt_queue.hpp | 0
 nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp    | 2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename nebula_ros/include/nebula_ros/{hesai => common}/mt_queue.hpp (100%)

diff --git a/nebula_ros/include/nebula_ros/hesai/mt_queue.hpp b/nebula_ros/include/nebula_ros/common/mt_queue.hpp
similarity index 100%
rename from nebula_ros/include/nebula_ros/hesai/mt_queue.hpp
rename to nebula_ros/include/nebula_ros/common/mt_queue.hpp
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index 42d8bdc36..ed76343c7 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -9,7 +9,7 @@
 #include "nebula_ros/hesai/decoder_wrapper.hpp"
 #include "nebula_ros/hesai/hw_interface_wrapper.hpp"
 #include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
-#include "nebula_ros/hesai/mt_queue.hpp"
+#include "nebula_ros/common/mt_queue.hpp"
 #include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>

From 4b8b9c0a460a5276a826953ae3397c933c8d7ef6 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 13:46:56 +0900
Subject: [PATCH 113/122] chore(nebula_examples): change output rosbag format
 to NebulaPackets, clean up code

---
 .../hesai_ros_offline_extract_bag_pcd.hpp     |  17 +-
 .../hesai_ros_offline_extract_bag_pcd.cpp     | 293 ++++++------------
 2 files changed, 105 insertions(+), 205 deletions(-)

diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
index 5136cbb12..bbecf43b0 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -15,18 +15,21 @@
 #ifndef NEBULA_HesaiRosOfflineExtractBag_H
 #define NEBULA_HesaiRosOfflineExtractBag_H
 
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/nebula_common.hpp"
-#include "nebula_common/nebula_status.hpp"
-#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
-#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp"
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/nebula_common.hpp>
+#include <nebula_common/nebula_status.hpp>
+#include <nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp>
+#include <nebula_ros/common/nebula_driver_ros_wrapper_base.hpp>
+#include <nebula_ros/common/parameter_descriptors.hpp>
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include "pandar_msgs/msg/pandar_packet.hpp"
-#include "pandar_msgs/msg/pandar_scan.hpp"
+#include <pandar_msgs/msg/pandar_packet.hpp>
+#include <pandar_msgs/msg/pandar_scan.hpp>
+#include <nebula_msgs/msg/nebula_packet.hpp>
+#include <nebula_msgs/msg/nebula_packets.hpp>
 
 #include <memory>
 #include <string>
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index 02cc84c72..51e2d028c 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -70,7 +70,6 @@ Status HesaiRosOfflineExtractBag::InitializeDriver(
   std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
   std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calibration_configuration)
 {
-  // driver should be initialized here with proper decoder
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(
     std::static_pointer_cast<drivers::HesaiSensorConfiguration>(sensor_configuration),
     calibration_configuration);
@@ -84,141 +83,37 @@ Status HesaiRosOfflineExtractBag::GetParameters(
   drivers::HesaiCalibrationConfiguration & calibration_configuration,
   drivers::HesaiCorrection & correction_configuration)
 {
+  auto sensor_model_ = this->declare_parameter<std::string>("sensor_model", "", param_read_only());
+  sensor_configuration.sensor_model =
+    nebula::drivers::SensorModelFromString(sensor_model_);
+  auto return_mode_ = this->declare_parameter<std::string>("return_mode", "", param_read_only());
+  sensor_configuration.return_mode =
+    nebula::drivers::ReturnModeFromStringHesai(return_mode_, sensor_configuration.sensor_model);
+  this->declare_parameter<std::string>("frame_id", "pandar", param_read_only());
+  sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
+  
   {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("sensor_model", "");
-    sensor_configuration.sensor_model =
-      nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string());
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("return_mode", "", descriptor);
-    sensor_configuration.return_mode =
-      //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
-      nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("frame_id", "pandar", descriptor);
-    sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 3;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
+    rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_only();
     descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
-    rcl_interfaces::msg::FloatingPointRange range;
-    range.set__from_value(0).set__to_value(360).set__step(0.01);
-    descriptor.floating_point_range = {range};
-    this->declare_parameter<double>("scan_phase", 0., descriptor);
-    sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("calibration_file", "", descriptor);
-    calibration_configuration.calibration_file =
-      this->get_parameter("calibration_file").as_string();
+    descriptor.floating_point_range = float_range(0, 360, 0.01);
+    sensor_configuration.scan_phase = this->declare_parameter<double>("scan_phase", 0., descriptor);
+    this->get_parameter("scan_phase").as_double();
   }
+
+  calibration_configuration.calibration_file =this->declare_parameter<std::string>("calibration_file", "", param_read_only());
   if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("correction_file", "", descriptor);
-    correction_file_path = this->get_parameter("correction_file").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("bag_path", "", descriptor);
-    bag_path = this->get_parameter("bag_path").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("storage_id", "sqlite3", descriptor);
-    storage_id = this->get_parameter("storage_id").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("out_path", "", descriptor);
-    out_path = this->get_parameter("out_path").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("format", "cdr", descriptor);
-    format = this->get_parameter("format").as_string();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 2;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("out_num", 3, descriptor);
-    out_num = this->get_parameter("out_num").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 2;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<uint16_t>("skip_num", 3, descriptor);
-    skip_num = this->get_parameter("skip_num").as_int();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 1;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<bool>("only_xyz", false, descriptor);
-    only_xyz = this->get_parameter("only_xyz").as_bool();
-  }
-  {
-    rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = 4;
-    descriptor.read_only = true;
-    descriptor.dynamic_typing = false;
-    descriptor.additional_constraints = "";
-    this->declare_parameter<std::string>("target_topic", "", descriptor);
-    target_topic = this->get_parameter("target_topic").as_string();
+    correction_file_path = this->declare_parameter<std::string>("correction_file", "", param_read_only());
   }
 
+  bag_path = this->declare_parameter<std::string>("bag_path", "", param_read_only());
+  storage_id = this->declare_parameter<std::string>("storage_id", "sqlite3", param_read_only());
+  out_path = this->declare_parameter<std::string>("out_path", "", param_read_only());
+  format = this->declare_parameter<std::string>("format", "cdr", param_read_only());
+  out_num = this->declare_parameter<uint16_t>("out_num", 3, param_read_only());
+  skip_num = this->declare_parameter<uint16_t>("skip_num", 3, param_read_only());
+  only_xyz = this->declare_parameter<bool>("only_xyz", false, param_read_only());
+  target_topic = this->declare_parameter<std::string>("target_topic", "", param_read_only());
+
   if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
     return Status::INVALID_SENSOR_MODEL;
   }
@@ -281,81 +176,83 @@ Status HesaiRosOfflineExtractBag::ReadBag()
   if (rcpputils::fs::create_directories(o_dir)) {
     std::cout << "created: " << o_dir << std::endl;
   }
-  //  return Status::OK;
 
-  pcl::PCDWriter writer;
+  pcl::PCDWriter pcd_writer;
 
-  std::unique_ptr<rosbag2_cpp::writers::SequentialWriter> writer_;
-  bool needs_open = true;
+  std::unique_ptr<rosbag2_cpp::writers::SequentialWriter> bag_writer{};
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  // "cdr";
-  {
-    rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
-    // reader.open(rosbag_directory.string());
-    reader.open(storage_options, converter_options);
-    int cnt = 0;
-    int out_cnt = 0;
-    while (reader.has_next()) {
-      auto bag_message = reader.read_next();
-
-      std::cout << "Found topic name " << bag_message->topic_name << std::endl;
-
-      if (bag_message->topic_name == target_topic) {
-        std::cout << (cnt + 1) << ", " << (out_cnt + 1) << "/" << out_num << std::endl;
-        pandar_msgs::msg::PandarScan extracted_msg;
-        rclcpp::Serialization<pandar_msgs::msg::PandarScan> serialization;
-        rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
-        serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg);
-
-        //        std::cout<<"Found data in topic " << bag_message->topic_name << ": " <<
-        //        extracted_test_msg.data << std::endl;
-        std::cout << "Found data in topic " << bag_message->topic_name << ": "
-                  << bag_message->time_stamp << std::endl;
-
-        for (auto & pkt : extracted_msg.packets) {
-          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
-          auto pointcloud = std::get<0>(pointcloud_ts);
-
-          if (!pointcloud) {
-            continue;
-          }
-
-          auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
-          //        pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud);
-
-          if (needs_open) {
-            const rosbag2_storage::StorageOptions storage_options_w(
-              {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
-            const rosbag2_cpp::ConverterOptions converter_options_w(
-              {rmw_get_serialization_format(), rmw_get_serialization_format()});
-            writer_ = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
-            writer_->open(storage_options_w, converter_options_w);
-            writer_->create_topic(
-              {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
-                ""});
-            needs_open = false;
-          }
-          writer_->write(bag_message);
-          cnt++;
-          if (skip_num < cnt) {
-            out_cnt++;
-            if (only_xyz) {
-              pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
-              pcl::copyPointCloud(*pointcloud, cloud_xyz);
-              writer.writeBinary((o_dir / fn).string(), cloud_xyz);
-            } else {
-              writer.writeBinary((o_dir / fn).string(), *pointcloud);
-            }
-            //          writer.writeASCII((o_dir / fn).string(), *pointcloud);
-          }
-          if (out_num <= out_cnt) {
-            break;
-          }
+  converter_options.output_serialization_format = format;
+
+  rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
+  reader.open(storage_options, converter_options);
+  int cnt = 0;
+  int out_cnt = 0;
+  while (reader.has_next()) {
+    auto bag_message = reader.read_next();
+
+    std::cout << "Found topic name " << bag_message->topic_name << std::endl;
+
+    if (bag_message->topic_name != target_topic) {
+      continue;
+    }
+
+    std::cout << (cnt + 1) << ", " << (out_cnt + 1) << "/" << out_num << std::endl;
+    pandar_msgs::msg::PandarScan extracted_msg;
+    rclcpp::Serialization<pandar_msgs::msg::PandarScan> serialization;
+    rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
+    serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg);
+
+    std::cout << "Found data in topic " << bag_message->topic_name << ": "
+              << bag_message->time_stamp << std::endl;
+
+    nebula_msgs::msg::NebulaPackets nebula_msg;
+    nebula_msg.header = extracted_msg.header;
+    for (auto & pkt : extracted_msg.packets) {
+      std::vector<uint8_t> pkt_data(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size));
+      auto pointcloud_ts = driver_ptr_->ParseCloudPacket(pkt_data);
+      auto pointcloud = std::get<0>(pointcloud_ts);
+
+      nebula_msgs::msg::NebulaPacket nebula_pkt;
+      nebula_pkt.stamp = pkt.stamp;
+      nebula_pkt.data.swap(pkt_data); // move storage from `pkt_data` to `data`
+      nebula_msg.packets.push_back(nebula_pkt);
+
+      if (!pointcloud) {
+        continue;
+      }
+
+      auto fn = std::to_string(bag_message->time_stamp) + ".pcd";
+
+      if (!bag_writer) {
+        const rosbag2_storage::StorageOptions storage_options_w(
+          {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"});
+        const rosbag2_cpp::ConverterOptions converter_options_w(
+          {rmw_get_serialization_format(), rmw_get_serialization_format()});
+        bag_writer = std::make_unique<rosbag2_cpp::writers::SequentialWriter>();
+        bag_writer->open(storage_options_w, converter_options_w);
+        bag_writer->create_topic(
+          {bag_message->topic_name, "nebula_msgs/msg/NebulaPackets", rmw_get_serialization_format(),
+            ""});
+      }
+
+      bag_writer->write(bag_message);
+      cnt++;
+      if (skip_num < cnt) {
+        out_cnt++;
+        if (only_xyz) {
+          pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
+          pcl::copyPointCloud(*pointcloud, cloud_xyz);
+          pcd_writer.writeBinary((o_dir / fn).string(), cloud_xyz);
+        } else {
+          pcd_writer.writeBinary((o_dir / fn).string(), *pointcloud);
         }
       }
+      
+      if (out_num <= out_cnt) {
+        break;
+      }
     }
-    // close on scope exit
   }
   return Status::OK;
 }

From 52a210caf7172c95c148c467536f5eb6d925385d Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 13:51:53 +0900
Subject: [PATCH 114/122] chore(hesai/decoder_wrapper): clarify watchdog
 behavior in decoder

---
 nebula_ros/src/hesai/decoder_wrapper.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 0ddfd599e..3046dc9c0 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -247,10 +247,12 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     pointcloud = std::get<0>(pointcloud_ts);
   }
 
+  // A pointcloud is only emitted when a scan completes (e.g. 3599 packets do not emit, the 3600th emits one)
   if (pointcloud == nullptr)
   {
-    // todo
-    // RCLCPP_WARN_STREAM(logger_, "Empty cloud parsed.");
+    // Since this ends the function early, the `cloud_watchdog_` will not be updated.
+    // Thus, if pointclouds are not emitted for too long (e.g. when decoder settings are wrong or no packets come in),
+    // the watchdog will log a warning automatically
     return;
   };
 

From c4d58ec488bdbdee03bb069f404553614b113dee Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 13:53:51 +0900
Subject: [PATCH 115/122] chore(hesai/hw_monitor_wrapper): fix typo in
 diagnostics name

---
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index 0a56bec57..b34e181fb 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -22,7 +22,7 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
     case nebula::drivers::SensorModel::HESAI_PANDARAT128:
       temperature_names_.emplace_back("Bottom circuit board T1");
       temperature_names_.emplace_back("Bottom circuit board T2");
-      temperature_names_.emplace_back("Laser emitting board RT_L1(Internal)");
+      temperature_names_.emplace_back("Laser emitting board RT_L1 (Internal)");
       temperature_names_.emplace_back("Laser emitting board RT_L2");
       temperature_names_.emplace_back("Receiving board RT_R");
       temperature_names_.emplace_back("Receiving board RT2");

From 884a85c4818464e146545cf19a1a77a6c49008da Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 13:55:49 +0900
Subject: [PATCH 116/122] chore(hesai_ros_decoder_test): fix unclear naming in
 console output

---
 nebula_tests/hesai/hesai_ros_decoder_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
index 00f33fa1a..f65a974cc 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -304,7 +304,7 @@ void HesaiRosDecoderTest::ReadBag(
           continue;
         }
 
-        std::cerr << "PC size: " << pointcloud->size() << std::endl;
+        std::cerr << "Pointcloud size: " << pointcloud->size() << std::endl;
 
         scan_callback(bag_message->time_stamp, scan_timestamp, pointcloud);
       }

From 798c9eccc9ce71733cc6babba52151fb153f35cd Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko.2@tier4.jp>
Date: Wed, 22 May 2024 14:25:19 +0900
Subject: [PATCH 117/122] chore(nebula_ros): add schema composition for
 robosense

Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp>
---
 .../config/lidar/robosense/Bpearl.param.yaml  | 16 ++++
 .../config/lidar/robosense/Helios.param.yaml  | 16 ++++
 .../config/lidar/velodyne/VLP16.param.yaml    | 20 ++---
 nebula_ros/config/robosense/Bpearl.yaml       | 11 ---
 nebula_ros/config/robosense/Helios.yaml       | 11 ---
 .../common/parameter_descriptors.hpp          |  4 +
 nebula_ros/launch/robosense_launch.all_hw.xml | 53 ++---------
 nebula_ros/schema/Bpearl.schema.json          | 37 ++++++++
 nebula_ros/schema/Helios.schema.json          | 37 ++++++++
 nebula_ros/schema/sub/robosense.json          | 87 +++++++++++++++++++
 .../src/common/parameter_descriptors.cpp      | 26 ++++++
 11 files changed, 238 insertions(+), 80 deletions(-)
 create mode 100644 nebula_ros/config/lidar/robosense/Bpearl.param.yaml
 create mode 100644 nebula_ros/config/lidar/robosense/Helios.param.yaml
 delete mode 100644 nebula_ros/config/robosense/Bpearl.yaml
 delete mode 100644 nebula_ros/config/robosense/Helios.yaml
 create mode 100644 nebula_ros/schema/Bpearl.schema.json
 create mode 100644 nebula_ros/schema/Helios.schema.json
 create mode 100644 nebula_ros/schema/sub/robosense.json

diff --git a/nebula_ros/config/lidar/robosense/Bpearl.param.yaml b/nebula_ros/config/lidar/robosense/Bpearl.param.yaml
new file mode 100644
index 000000000..1be1f64c5
--- /dev/null
+++ b/nebula_ros/config/lidar/robosense/Bpearl.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    frame_id: data_link
+    diag_span: 1000
+    scan_phase: 0.0
+    setup_sensor: true
+    sensor_model: Bpearl
+    return_mode: Dual
+    gnss_port: 2369
+    packet_mtu_size: 1500
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    dual_return_distance_threshold: 0.1
diff --git a/nebula_ros/config/lidar/robosense/Helios.param.yaml b/nebula_ros/config/lidar/robosense/Helios.param.yaml
new file mode 100644
index 000000000..b745d6e93
--- /dev/null
+++ b/nebula_ros/config/lidar/robosense/Helios.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    frame_id: data_link
+    diag_span: 1000
+    scan_phase: 0.0
+    setup_sensor: true
+    sensor_model: Helios
+    return_mode: Dual
+    gnss_port: 2369
+    packet_mtu_size: 1500
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    dual_return_distance_threshold: 0.1
diff --git a/nebula_ros/config/lidar/velodyne/VLP16.param.yaml b/nebula_ros/config/lidar/velodyne/VLP16.param.yaml
index 9ce09de50..c8b49ed78 100644
--- a/nebula_ros/config/lidar/velodyne/VLP16.param.yaml
+++ b/nebula_ros/config/lidar/velodyne/VLP16.param.yaml
@@ -1,21 +1,21 @@
 /**:
   ros__parameters:
-    calibration_file: "$(find-pkg-share nebula_decoders)/calibration/velodyne/VLP16.yaml"
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/velodyne/$(var sensor_model).yaml
     setup_sensor: true
-    diag_span: 1000
     advanced_diagnostics: false
-    launch_hw: false
+    launch_hw: true
     sensor_model: VLP16
     return_mode: Dual
-    host_ip: "255.255.255.255"
-    sensor_ip: "192.168.1.201"
-    data_port: 2368
     gnss_port: 2369
-    frame_id: velodyne
-    scan_phase: 0.0
     min_range: 0.3
-    max_range: 300.0
+    max_range: 300
     packet_mtu_size: 1500
-    rotation_speed: 360
+    rotation_speed: 600
     cloud_min_angle: 0
     cloud_max_angle: 360
+    diag_span: 1000
+    scan_phase: 0
+    host_ip: "255.255.255.255"
+    sensor_ip: "192.168.1.201"
+    data_port: 2368
+    frame_id: data_link
\ No newline at end of file
diff --git a/nebula_ros/config/robosense/Bpearl.yaml b/nebula_ros/config/robosense/Bpearl.yaml
deleted file mode 100644
index 9ccb42e56..000000000
--- a/nebula_ros/config/robosense/Bpearl.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
-  ros__parameters:
-    sensor_model: "Bpearl" # See readme for supported models
-    sensor_ip: "192.168.1.200" # Lidar Sensor IP
-    host_ip: "192.168.1.102" # Broadcast IP from Sensor
-    frame_id: "robosense"
-    data_port: 6699 # LiDAR Data Port (MSOP)
-    gnss_port: 7788 # LiDAR GNSS Port (DIFOP)
-    scan_phase: 0.0 # Angle where scans begin (degrees, [0.,360.]
-    diag_span: 1000 # milliseconds
-    dual_return_distance_threshold: 0.1
diff --git a/nebula_ros/config/robosense/Helios.yaml b/nebula_ros/config/robosense/Helios.yaml
deleted file mode 100644
index 24350822d..000000000
--- a/nebula_ros/config/robosense/Helios.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
-  ros__parameters:
-    sensor_model: "Helios" # See readme for supported models
-    sensor_ip: "192.168.1.200" # Lidar Sensor IP
-    host_ip: "192.168.1.102" # Broadcast IP from Sensor
-    frame_id: "robosense"
-    data_port: 6699 # LiDAR Data Port (MSOP)
-    gnss_port: 7788 # LiDAR GNSS Port (DIFOP)
-    scan_phase: 0.0 # Angle where scans begin (degrees, [0.,360.]
-    diag_span: 1000 # milliseconds
-    dual_return_distance_threshold: 0.1
diff --git a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
index b54d8ad63..bdac267e9 100644
--- a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
+++ b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
@@ -18,6 +18,10 @@ rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range
 
 rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step);
 
+double declare_fp_parameter(const std::string& name,
+                            rcl_interfaces::msg::ParameterDescriptor parameter_descriptor,
+                            rclcpp::Node* node);
+
 /// @brief Get a parameter's value from a list of parameters, if that parameter is in the list.
 /// @tparam T The parameter's expected value type
 /// @param p A vector of parameters
diff --git a/nebula_ros/launch/robosense_launch.all_hw.xml b/nebula_ros/launch/robosense_launch.all_hw.xml
index 6e2ab6dda..52a013523 100644
--- a/nebula_ros/launch/robosense_launch.all_hw.xml
+++ b/nebula_ros/launch/robosense_launch.all_hw.xml
@@ -1,53 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="sensor_model" description="Helios|Bpearl"/>
-    <arg name="return_mode" default="Strongest" description="See readme for supported return modes"/>
-    <arg name="frame_id" default="robosense"/>
-    <arg name="scan_phase" default="0.0"/>
+  <arg name="sensor_model" description="Helios|Bpearl"/>
+  <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/robosense/$(var sensor_model).param.yaml"/>
 
-    <arg name="sensor_ip" default="192.168.1.202" description="Lidar Sensor IP"/>
-    <arg name="host_ip" default="192.168.1.201" description="Broadcast IP from Sensor"/>
-    <arg name="data_port" default="6701" description="LiDAR Data Port"/>
-    <arg name="gnss_port" default="7792" description="LiDAR GNSS Port"/>
-    <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/>
-    <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/>
-    <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/>
-    <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/>
-
-    <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/>
-    <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/>
-    <arg name="diag_span" default="1000" description="milliseconds"/>
-
-
-    <node pkg="nebula_ros" exec="robosense_hw_interface_ros_wrapper_node"
-          name="robosense_hw_driver" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="robosense_driver_ros_wrapper_node"
-          name="robosense_cloud" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
-    </node>
-
-    <node pkg="nebula_ros" exec="robosense_hw_monitor_ros_wrapper_node"
-          name="robosense_hw_monitor_$(var frame_id)" output="screen">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="diag_span" value="$(var diag_span)"/>
-    </node>
+  <node pkg="nebula_ros" exec="robosense_ros_wrapper_node" name="robosense_ros_wrapper_node" output="screen">
+    <param from="$(var config_file)" allow_substs="true"/>
+  </node>
 
 </launch>
\ No newline at end of file
diff --git a/nebula_ros/schema/Bpearl.schema.json b/nebula_ros/schema/Bpearl.schema.json
new file mode 100644
index 000000000..0622e2089
--- /dev/null
+++ b/nebula_ros/schema/Bpearl.schema.json
@@ -0,0 +1,37 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "LiDAR Robosense Bpearl parameters.",
+  "type": "object",
+  "definitions": {
+    "Bpearl": {
+      "type": "object",
+      "properties": {
+      },
+      "allOf": [
+        {
+          "$ref": "sub/robosense.json#/definitions/robosense"
+        }
+      ],
+      "required": [
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/Bpearl"
+        }
+      },
+      "required": [
+        "ros__parameters"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "required": [
+    "/**"
+  ],
+  "additionalProperties": false
+}
\ No newline at end of file
diff --git a/nebula_ros/schema/Helios.schema.json b/nebula_ros/schema/Helios.schema.json
new file mode 100644
index 000000000..4485f4aad
--- /dev/null
+++ b/nebula_ros/schema/Helios.schema.json
@@ -0,0 +1,37 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "LiDAR Robosense Helios parameters.",
+  "type": "object",
+  "definitions": {
+    "Helios": {
+      "type": "object",
+      "properties": {
+      },
+      "allOf": [
+        {
+          "$ref": "sub/robosense.json#/definitions/robosense"
+        }
+      ],
+      "required": [
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/Helios"
+        }
+      },
+      "required": [
+        "ros__parameters"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "required": [
+    "/**"
+  ],
+  "additionalProperties": false
+}
\ No newline at end of file
diff --git a/nebula_ros/schema/sub/robosense.json b/nebula_ros/schema/sub/robosense.json
new file mode 100644
index 000000000..0e23e8433
--- /dev/null
+++ b/nebula_ros/schema/sub/robosense.json
@@ -0,0 +1,87 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "LiDAR Robosense common parameters.",
+  "type": "object",
+  "definitions": {
+    "robosense": {
+      "type": "object",
+      "properties": {
+        "setup_sensor": {
+          "type": "boolean",
+          "default": true,
+          "readOnly": true,
+          "description": "Enable sensor setup on hw-driver."
+        },
+        "sensor_model": {
+          "type": "string",
+          "readOnly": true,
+          "enum": [
+            "Helios",
+            "Bpearl"
+          ],
+          "description": "LiDAR model."
+        },
+        "return_mode": {
+          "type": "string",
+          "enum": [
+            "Dual",
+            "Strongest",
+            "Last",
+            "First"
+          ],
+          "description": "LiDAR return mode."
+        },
+        "gnss_port": {
+          "type": "integer",
+          "default": 2369,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "LiDAR GNSS port."
+        },
+        "packet_mtu_size": {
+          "type": "integer",
+          "default": 1500,
+          "minimum": 0,
+          "readOnly": true,
+          "description": "Packet MTU size."
+        },
+        "cloud_min_angle": {
+          "type": "integer",
+          "default": 0,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, start degrees."
+        },
+        "cloud_max_angle": {
+          "type": "integer",
+          "default": 360,
+          "minimum": 0,
+          "maximum": 360,
+          "description": "Field of View, end degrees."
+        },
+        "dual_return_distance_threshold": {
+          "type": "number",
+          "default": 0.1,
+          "minimum": 0.01,
+          "maximum": 0.5,
+          "description": "Distance threshold between two neighboring points for dual return mode."
+        }
+      },
+      "allOf": [
+        {
+          "$ref": "lidar.json#/definitions/lidar"
+        }
+      ],
+      "required": [
+        "setup_sensor",
+        "sensor_model",
+        "return_mode",
+        "gnss_port",
+        "packet_mtu_size",
+        "cloud_min_angle",
+        "cloud_max_angle",
+        "dual_return_distance_threshold"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/nebula_ros/src/common/parameter_descriptors.cpp b/nebula_ros/src/common/parameter_descriptors.cpp
index ffd0fff37..d82b7235e 100644
--- a/nebula_ros/src/common/parameter_descriptors.cpp
+++ b/nebula_ros/src/common/parameter_descriptors.cpp
@@ -25,5 +25,31 @@ rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int star
   return { rcl_interfaces::msg::IntegerRange().set__from_value(start).set__to_value(stop).set__step(step) };
 }
 
+double declare_fp_parameter(const std::string& name, rcl_interfaces::msg::ParameterDescriptor parameter_descriptor, rclcpp::Node* node)
+{
+  parameter_descriptor.dynamic_typing = true;
+  parameter_descriptor.read_only = false;  // Can't set param if read_only, force to false
+  auto param = node->declare_parameter(name, rclcpp::ParameterValue{}, parameter_descriptor);
+  double value;
+
+  switch (param.get_type())
+  {
+    case rclcpp::PARAMETER_INTEGER:
+      value = static_cast<double>(param.get<int>());
+      RCLCPP_WARN_STREAM(
+        node->get_logger(), "Parameter " << name << " was set as an integer, converting to double");
+      break;
+    case rclcpp::PARAMETER_DOUBLE:
+      value = param.get<double>();
+      break;
+    default:
+      throw std::runtime_error(
+              (std::stringstream() << "Invalid type (" << param.get_type() <<
+          ") for floating point parameter " << name).str());
+  }
+  node->set_parameter(rclcpp::Parameter(name, value));
+  return value;
+}
+
 }  // namespace ros
 }  // namespace nebula
\ No newline at end of file

From 28b42fcb66ceedae689521f3fc5212f3bd3b35f0 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 14:44:09 +0900
Subject: [PATCH 118/122] chore: run pre-commit and implement suggested fixes
 (not including copyright yet)

---
 .cspell.json                                  |   9 +-
 .../nebula_common/hesai/hesai_common.hpp      |  48 ++--
 .../include/nebula_common/nebula_common.hpp   |  37 ++-
 .../include/nebula_common/util/expected.hpp   |  47 ++--
 .../decoders/angle_corrector.hpp              |   5 +-
 .../angle_corrector_calibration_based.hpp     |   5 +-
 .../angle_corrector_correction_based.hpp      |  15 +-
 .../decoders/hesai_decoder.hpp                |  14 +-
 .../decoders/hesai_packet.hpp                 |   3 +-
 .../decoders/hesai_scan_decoder.hpp           |   1 +
 .../nebula_decoders_hesai/hesai_driver.hpp    |   4 +-
 .../nebula_decoders_hesai/hesai_driver.cpp    |   6 +-
 .../hesai_ros_offline_extract_bag_pcd.hpp     |   7 +-
 .../hesai_ros_offline_extract_bag_pcd.cpp     |  22 +-
 .../hesai/hesai_ros_offline_extract_pcd.cpp   |  10 +-
 .../hesai_cmd_response.hpp                    |  38 +--
 .../hesai_hw_interface.hpp                    |   8 +-
 .../hesai_hw_interface.cpp                    |  91 ++++---
 nebula_messages/nebula_msgs/CMakeLists.txt    |   2 +-
 .../nebula_msgs/msg/NebulaPacket.msg          |   2 +-
 nebula_messages/nebula_msgs/package.xml       |   2 +-
 .../include/nebula_ros/common/mt_queue.hpp    |   7 +-
 .../common/parameter_descriptors.hpp          |  23 +-
 .../nebula_ros/common/watchdog_timer.hpp      |  27 +-
 .../nebula_ros/hesai/decoder_wrapper.hpp      |  40 +--
 .../nebula_ros/hesai/hesai_ros_wrapper.hpp    |  17 +-
 .../nebula_ros/hesai/hw_interface_wrapper.hpp |  11 +-
 .../nebula_ros/hesai/hw_monitor_wrapper.hpp   |  33 ++-
 nebula_ros/launch/hesai_launch_all_hw.xml     |   6 +-
 nebula_ros/launch/nebula_launch.py            |  47 ++--
 nebula_ros/package.xml                        |   4 +-
 .../src/common/parameter_descriptors.cpp      |  15 +-
 nebula_ros/src/hesai/decoder_wrapper.cpp      | 251 +++++++++--------
 nebula_ros/src/hesai/hesai_ros_wrapper.cpp    | 199 +++++++-------
 nebula_ros/src/hesai/hw_interface_wrapper.cpp |  48 ++--
 nebula_ros/src/hesai/hw_monitor_wrapper.cpp   | 253 ++++++++----------
 nebula_tests/hesai/hesai_ros_decoder_test.cpp |   8 +-
 nebula_tests/hesai/hesai_ros_decoder_test.hpp |  30 ++-
 .../hesai/hesai_ros_decoder_test_main.cpp     |  77 +-----
 .../velodyne_ros_decoder_test_vls128.cpp      |  10 +-
 ...cc0c413aef9f44cc34d45933658dcd90140bf.json |   1 +
 scripts/plot_instrumentation.py               | 104 +++----
 scripts/plot_times.py                         |  53 ++--
 43 files changed, 816 insertions(+), 824 deletions(-)
 create mode 100644 node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json

diff --git a/.cspell.json b/.cspell.json
index 228d7f45e..30dc5cda2 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -13,6 +13,7 @@
     "DHAVE",
     "Difop",
     "extrinsics",
+    "fout",
     "gprmc",
     "gptp",
     "Helios",
@@ -32,6 +33,8 @@
     "PANDARQT",
     "PANDARXT",
     "Pdelay",
+    "Piyush",
+    "piyushk",
     "QT",
     "rclcpp",
     "schedutil",
@@ -46,8 +49,6 @@
     "Vdat",
     "XT",
     "XTM",
-    "piyushk",
-    "Piyush",
-    "fout"
+    "yukkysaito"
   ]
-}
\ No newline at end of file
+}
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
index 0c7ae1c1b..8e0600999 100644
--- a/nebula_common/include/nebula_common/hesai/hesai_common.hpp
+++ b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -8,7 +8,10 @@
 #include <cmath>
 #include <fstream>
 #include <iostream>
+#include <map>
 #include <sstream>
+#include <string>
+#include <vector>
 namespace nebula
 {
 namespace drivers
@@ -47,7 +50,8 @@ struct HesaiCalibrationConfigurationBase : public CalibrationConfigurationBase
 {
   virtual nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) = 0;
   virtual nebula::Status LoadFromFile(const std::string & calibration_file) = 0;
-  virtual nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) = 0;
+  virtual nebula::Status SaveToFileFromBytes(
+    const std::string & calibration_file, const std::vector<uint8_t> & buf) = 0;
 };
 
 /// @brief struct for Hesai calibration configuration
@@ -63,12 +67,13 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
       return Status::INVALID_CALIBRATION_FILE;
     }
     std::ostringstream ss;
-    ss << ifs.rdbuf(); // reading data
+    ss << ifs.rdbuf();  // reading data
     ifs.close();
     return LoadFromString(ss.str());
   }
 
-  nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) {
+  nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf)
+  {
     std::string calibration_string = std::string(buf.begin(), buf.end());
     return LoadFromString(calibration_string);
   }
@@ -82,14 +87,12 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
     ss << calibration_content;
     std::string line;
     constexpr size_t expected_cols = 3;
-    while(std::getline(ss, line)) {
+    while (std::getline(ss, line)) {
       boost::char_separator<char> sep(",");
       boost::tokenizer<boost::char_separator<char>> tok(line, sep);
 
       std::vector<std::string> actual_tokens(tok.begin(), tok.end());
-      if (actual_tokens.size() < expected_cols
-        || actual_tokens.size() > expected_cols
-        ) {
+      if (actual_tokens.size() < expected_cols || actual_tokens.size() > expected_cols) {
         std::cerr << "Ignoring line with unexpected data:" << line << std::endl;
         continue;
       }
@@ -100,10 +103,9 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
         float azimuth = std::stof(actual_tokens[2]);
         elev_angle_map[laser_id - 1] = elevation;
         azimuth_offset_map[laser_id - 1] = azimuth;
-      } catch (const std::invalid_argument& ia) {
+      } catch (const std::invalid_argument & ia) {
         continue;
       }
-
     }
     return Status::OK;
   }
@@ -129,7 +131,9 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
     return Status::OK;
   }
 
-  nebula::Status SaveToFileFromBytes(const std::string & calibration_file, const std::vector<uint8_t> & buf) override {
+  nebula::Status SaveToFileFromBytes(
+    const std::string & calibration_file, const std::vector<uint8_t> & buf) override
+  {
     std::string calibration_string = std::string(buf.begin(), buf.end());
     return SaveFileFromString(calibration_file, calibration_string);
   }
@@ -138,7 +142,8 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase
   /// @param calibration_file path
   /// @param calibration_string calibration string
   /// @return Resulting status
-  inline nebula::Status SaveFileFromString(const std::string & calibration_file, const std::string & calibration_string)
+  inline nebula::Status SaveFileFromString(
+    const std::string & calibration_file, const std::string & calibration_string)
   {
     std::ofstream ofs(calibration_file);
     if (!ofs) {
@@ -176,9 +181,8 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
   inline nebula::Status LoadFromBytes(const std::vector<uint8_t> & buf) override
   {
     size_t index;
-    for (index = 0; index < buf.size()-1; index++) {
-      if(buf[index]==0xee && buf[index+1]==0xff)
-        break;
+    for (index = 0; index < buf.size() - 1; index++) {
+      if (buf[index] == 0xee && buf[index + 1] == 0xff) break;
     }
     delimiter = (buf[index] & 0xff) << 8 | ((buf[index + 1] & 0xff));
     versionMajor = buf[index + 2] & 0xff;
@@ -285,7 +289,7 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
     //    int cnt = 0;
     while (!ifs.eof()) {
       unsigned char c;
-      ifs.read((char *)&c, sizeof(unsigned char));
+      ifs.read(reinterpret_cast<char *>(&c), sizeof(unsigned char));
       buf.emplace_back(c);
     }
     LoadFromBytes(buf);
@@ -298,7 +302,8 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
   /// @param correction_file path
   /// @param buf correction binary
   /// @return Resulting status
-  inline nebula::Status SaveToFileFromBytes(const std::string & correction_file, const std::vector<uint8_t> & buf) override
+  inline nebula::Status SaveToFileFromBytes(
+    const std::string & correction_file, const std::vector<uint8_t> & buf) override
   {
     std::cerr << "Saving in:" << correction_file << "\n";
     std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
@@ -308,21 +313,20 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
     }
     std::cerr << "Writing start...." << buf.size() << "\n";
     bool sop_received = false;
-    for (const auto &byte : buf) {
+    for (const auto & byte : buf) {
       if (!sop_received) {
         if (byte == 0xEE) {
           std::cerr << "SOP received....\n";
           sop_received = true;
         }
       }
-      if(sop_received) {
+      if (sop_received) {
         ofs << byte;
       }
     }
     std::cerr << "Closing file\n";
     ofs.close();
-    if(sop_received)
-      return Status::OK;
+    if (sop_received) return Status::OK;
     return Status::INVALID_CALIBRATION_FILE;
   }
 
@@ -452,8 +456,8 @@ inline int IntFromReturnModeHesai(const ReturnMode return_mode, const SensorMode
     case SensorModel::HESAI_PANDARQT128:
       if (return_mode == ReturnMode::LAST) return 0;
       if (return_mode == ReturnMode::STRONGEST) return 1;
-      if (return_mode == ReturnMode::DUAL_LAST_STRONGEST
-      || return_mode == ReturnMode::DUAL) return 2;
+      if (return_mode == ReturnMode::DUAL_LAST_STRONGEST || return_mode == ReturnMode::DUAL)
+        return 2;
       if (return_mode == ReturnMode::FIRST) return 3;
       if (return_mode == ReturnMode::DUAL_LAST_FIRST) return 4;
       if (return_mode == ReturnMode::DUAL_FIRST_STRONGEST) return 5;
diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp
index cf1eb0841..e43ab49a3 100644
--- a/nebula_common/include/nebula_common/nebula_common.hpp
+++ b/nebula_common/include/nebula_common/nebula_common.hpp
@@ -2,7 +2,10 @@
 #define NEBULA_COMMON_H
 
 #include <nebula_common/point_types.hpp>
+
 #include <boost/tokenizer.hpp>
+
+#include <algorithm>
 #include <map>
 #include <ostream>
 #include <string>
@@ -342,24 +345,11 @@ enum class datatype {
   FLOAT64 = 8
 };
 
-enum class PtpProfile {
-  IEEE_1588v2 = 0,
-  IEEE_802_1AS,
-  IEEE_802_1AS_AUTO,
-  UNKNOWN_PROFILE
-};
+enum class PtpProfile { IEEE_1588v2 = 0, IEEE_802_1AS, IEEE_802_1AS_AUTO, UNKNOWN_PROFILE };
 
-enum class PtpTransportType {
-  UDP_IP = 0,
-  L2,
-  UNKNOWN_TRANSPORT
-};
+enum class PtpTransportType { UDP_IP = 0, L2, UNKNOWN_TRANSPORT };
 
-enum class PtpSwitchType {
-  NON_TSN = 0,
-  TSN,
-  UNKNOWN_SWITCH
-};
+enum class PtpSwitchType { NON_TSN = 0, TSN, UNKNOWN_SWITCH };
 
 /// @brief not used?
 struct PointField
@@ -618,8 +608,9 @@ inline PtpProfile PtpProfileFromString(const std::string & ptp_profile)
 {
   // Hesai
   auto tmp_str = ptp_profile;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
-                 [](unsigned char c){ return std::tolower(c); });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
+    return std::tolower(c);
+  });
   if (tmp_str == "1588v2") return PtpProfile::IEEE_1588v2;
   if (tmp_str == "802.1as") return PtpProfile::IEEE_802_1AS;
   if (tmp_str == "automotive") return PtpProfile::IEEE_802_1AS_AUTO;
@@ -657,8 +648,9 @@ inline PtpTransportType PtpTransportTypeFromString(const std::string & transport
 {
   // Hesai
   auto tmp_str = transport_type;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
-                 [](unsigned char c){ return std::tolower(c); });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
+    return std::tolower(c);
+  });
   if (tmp_str == "udp") return PtpTransportType::UDP_IP;
   if (tmp_str == "l2") return PtpTransportType::L2;
 
@@ -692,8 +684,9 @@ inline PtpSwitchType PtpSwitchTypeFromString(const std::string & switch_type)
 {
   // Hesai
   auto tmp_str = switch_type;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
-                 [](unsigned char c){ return std::tolower(c); });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
+    return std::tolower(c);
+  });
   if (tmp_str == "tsn") return PtpSwitchType::TSN;
   if (tmp_str == "non_tsn") return PtpSwitchType::NON_TSN;
 
diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index 0f47e9de1..2a59122f5 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -1,23 +1,22 @@
 #pragma once
 
-#include <variant>
-#include <string>
 #include <exception>
+#include <string>
+#include <variant>
 
 namespace nebula
 {
 namespace util
 {
 
-struct bad_expected_access : public std::exception {
-  bad_expected_access(const std::string & msg) : std::exception(), msg_(msg) {}
+struct bad_expected_access : public std::exception
+{
+  explicit bad_expected_access(const std::string & msg) : std::exception(), msg_(msg) {}
 
-  const char* what() const noexcept override {
-    return msg_.c_str();
-  }
+  const char * what() const noexcept override { return msg_.c_str(); }
 
 private:
-  const std::string msg_; 
+  const std::string msg_;
 };
 
 /// @brief A poor man's backport of C++23's std::expected.
@@ -39,14 +38,16 @@ struct expected
 
   /// @brief Retrieve the value, or throw `bad_expected_access` if an error is contained.
   /// @return The value of type `T`
-  T value() {
+  T value()
+  {
     if (!has_value()) {
       throw bad_expected_access("value() called but containing error");
     }
-    return std::get<T>(value_); 
+    return std::get<T>(value_);
   }
 
-  /// @brief Return the contained value, or, if an error is contained, return the given `default_` instead.
+  /// @brief Return the contained value, or, if an error is contained, return the given `default_`
+  /// instead.
   /// @return The contained value, if any, else `default_`
   T value_or(const T & default_)
   {
@@ -57,34 +58,38 @@ struct expected
   /// @brief If the instance has a value, return the value, else throw std::runtime_error(error_msg)
   /// @param error_msg The message to be included in the thrown exception
   /// @return The value
-  T value_or_throw(const std::string & error_msg) {
+  T value_or_throw(const std::string & error_msg)
+  {
     if (has_value()) return value();
     throw std::runtime_error(error_msg);
   }
 
   /// @brief Retrieve the error, or throw `bad_expected_access` if a value is contained.
   /// @return The error of type `E`
-  E error() {
+  E error()
+  {
     if (has_value()) {
       throw bad_expected_access("error() called but containing value");
     }
-    return std::get<E>(value_); 
+    return std::get<E>(value_);
   }
 
-  /// @brief Return the contained error, or, if a value is contained, return the given `default_` instead.
+  /// @brief Return the contained error, or, if a value is contained, return the given `default_`
+  /// instead.
   /// @return The contained error, if any, else `default_`
-  E error_or(const E & default_) { 
+  E error_or(const E & default_)
+  {
     if (!has_value()) return error();
-    return default_; 
-    }
+    return default_;
+  }
 
-  expected(const T & value) { value_ = value; }
+  explicit expected(const T & value) { value_ = value; }
 
-  expected(const E & error) { value_ = error; }
+  explicit expected(const E & error) { value_ = error; }
 
 private:
   std::variant<T, E> value_;
 };
 
 }  // namespace util
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
index 914d2da49..02d7cd535 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp
@@ -44,8 +44,9 @@ class AngleCorrector
   /// @param sync_azimuth The azimuth set in the sensor configuration, for which the
   /// timestamp is aligned to the full second
   /// @return true if the current azimuth is in a different scan than the last one, false otherwise
-  virtual bool hasScanned(uint32_t current_azimuth, uint32_t last_azimuth, uint32_t sync_azimuth) = 0;
+  virtual bool hasScanned(
+    uint32_t current_azimuth, uint32_t last_azimuth, uint32_t sync_azimuth) = 0;
 };
 
 }  // namespace drivers
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
index d2c078e2d..da9a1b579 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_calibration_based.hpp
@@ -4,6 +4,7 @@
 #include "nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp"
 
 #include <cstdint>
+#include <memory>
 
 namespace nebula
 {
@@ -79,10 +80,10 @@ class AngleCorrectorCalibrationBased : public AngleCorrector<HesaiCalibrationCon
       (MAX_AZIMUTH_LEN + current_azimuth - sync_azimuth) % MAX_AZIMUTH_LEN;
     uint32_t last_diff_from_sync =
       (MAX_AZIMUTH_LEN + last_azimuth - sync_azimuth) % MAX_AZIMUTH_LEN;
-      
+
     return current_diff_from_sync < last_diff_from_sync;
   }
 };
 
 }  // namespace drivers
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
index 52cbaf315..619c5a8fe 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector_correction_based.hpp
@@ -4,8 +4,7 @@
 #include "nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp"
 
 #include <cstdint>
-
-#define _(x) '"' << #x << "\": " << x << ", "
+#include <memory>
 
 namespace nebula
 {
@@ -30,8 +29,8 @@ class AngleCorrectorCorrectionBased : public AngleCorrector<HesaiCorrection>
   {
     // Assumes that:
     // * none of the startFrames are defined as > 360 deg (< 0 not possible since they are unsigned)
-    // * the fields are arranged in ascending order (e.g. field 1: 20-140deg, field 2: 140-260deg etc.)
-    // These assumptions hold for AT128E2X.
+    // * the fields are arranged in ascending order (e.g. field 1: 20-140deg, field 2: 140-260deg
+    // etc.) These assumptions hold for AT128E2X.
     int field = correction_->frameNumber - 1;
     for (size_t i = 0; i < correction_->frameNumber; ++i) {
       if (azimuth < correction_->startFrame[i]) return field;
@@ -43,10 +42,9 @@ class AngleCorrectorCorrectionBased : public AngleCorrector<HesaiCorrection>
   }
 
 public:
-  AngleCorrectorCorrectionBased(
+  explicit AngleCorrectorCorrectionBased(
     const std::shared_ptr<const HesaiCorrection> & sensor_correction)
-  : correction_(sensor_correction),
-    logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
+  : correction_(sensor_correction), logger_(rclcpp::get_logger("AngleCorrectorCorrectionBased"))
   {
     if (sensor_correction == nullptr) {
       throw std::runtime_error(
@@ -83,7 +81,8 @@ class AngleCorrectorCorrectionBased : public AngleCorrector<HesaiCorrection>
             cos_[azimuth], sin_[elevation], cos_[elevation]};
   }
 
-  bool hasScanned(uint32_t current_azimuth, uint32_t last_azimuth, uint32_t /*sync_azimuth*/) override
+  bool hasScanned(
+    uint32_t current_azimuth, uint32_t last_azimuth, uint32_t /*sync_azimuth*/) override
   {
     // For AT128, the scan is always cut at the beginning of the field:
     // If we would cut at `sync_azimuth`, the points left of it would be
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
index ea5dbe727..a277137d2 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -8,6 +8,11 @@
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
+#include <memory>
+#include <tuple>
+#include <utility>
+#include <vector>
+
 namespace nebula
 {
 namespace drivers
@@ -34,7 +39,7 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @brief The last decoded packet
   typename SensorT::packet_t packet_;
   /// @brief The last azimuth processed
-  int last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
+  int last_phase_ = -1;  // Dummy value to signal last_phase_ has not been set yet
   /// @brief The timestamp of the last completed scan in nanoseconds
   uint64_t output_scan_timestamp_ns_ = 0;
   /// @brief The timestamp of the scan currently in progress
@@ -177,7 +182,7 @@ class HesaiDecoder : public HesaiScanDecoder
     if (last_phase_ == -1) {
       return false;
     }
-    
+
     return angle_corrector_.hasScanned(current_phase, last_phase_, sync_phase);
   }
 
@@ -207,7 +212,8 @@ class HesaiDecoder : public HesaiScanDecoder
   /// @param correction_data Calibration data for this decoder
   explicit HesaiDecoder(
     const std::shared_ptr<const HesaiSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> & correction_data)
+    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> &
+      correction_data)
   : sensor_configuration_(sensor_configuration),
     angle_corrector_(correction_data),
     logger_(rclcpp::get_logger("HesaiDecoder"))
@@ -247,7 +253,7 @@ class HesaiDecoder : public HesaiScanDecoder
         sensor_configuration_->scan_phase * SensorT::packet_t::DEGREE_SUBDIVISIONS);
 
       if (scan_completed) {
-          std::swap(decode_pc_, output_pc_);
+        std::swap(decode_pc_, output_pc_);
         decode_pc_->clear();
         has_scanned_ = true;
         output_scan_timestamp_ns_ = decode_scan_timestamp_ns_;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
index 0280f1ff7..aa807e567 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp
@@ -221,7 +221,8 @@ uint64_t get_timestamp_ns(const PacketT & packet)
   return packet.tail.date_time.get_seconds() * 1000000000 + packet.tail.timestamp * 1000;
 }
 
-/// @brief Get the distance unit of the given packet type in meters. Distance values in the packet, multiplied by this value, yield the distance in meters.
+/// @brief Get the distance unit of the given packet type in meters. Distance values in the packet,
+/// multiplied by this value, yield the distance in meters.
 /// @tparam PacketT The packet type
 /// @param packet The packet to get the distance unit from
 /// @return The distance unit in meters
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
index 9d06c2702..153435bbe 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp
@@ -8,6 +8,7 @@
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
 #include <tuple>
+#include <vector>
 
 namespace nebula
 {
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
index 099e022c5..4c211efcc 100644
--- a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
+++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp
@@ -14,9 +14,11 @@
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <iostream>
+#include <memory>
 #include <stdexcept>
 #include <string>
-#include <memory>
+#include <tuple>
+#include <vector>
 
 namespace nebula
 {
diff --git a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
index c8aea2b40..b3afa886b 100644
--- a/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
+++ b/nebula_decoders/src/nebula_decoders_hesai/hesai_driver.cpp
@@ -79,15 +79,13 @@ std::tuple<drivers::NebulaPointCloudPtr, double> HesaiDriver::ParseCloudPacket(
   std::tuple<drivers::NebulaPointCloudPtr, double> pointcloud;
   auto logger = rclcpp::get_logger("HesaiDriver");
 
-  if (driver_status_ != nebula::Status::OK)
-  {
+  if (driver_status_ != nebula::Status::OK) {
     RCLCPP_ERROR(logger, "Driver not OK.");
     return pointcloud;
   }
 
   scan_decoder_->unpack(packet);
-  if (scan_decoder_->hasScanned())
-  {
+  if (scan_decoder_->hasScanned()) {
     pointcloud = scan_decoder_->getPointcloud();
   }
 
diff --git a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
index bbecf43b0..b8bbe345c 100644
--- a/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
+++ b/nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp
@@ -15,21 +15,20 @@
 #ifndef NEBULA_HesaiRosOfflineExtractBag_H
 #define NEBULA_HesaiRosOfflineExtractBag_H
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/nebula_common.hpp>
 #include <nebula_common/nebula_status.hpp>
 #include <nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp>
 #include <nebula_ros/common/nebula_driver_ros_wrapper_base.hpp>
 #include <nebula_ros/common/parameter_descriptors.hpp>
-
-#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-#include <pandar_msgs/msg/pandar_packet.hpp>
-#include <pandar_msgs/msg/pandar_scan.hpp>
 #include <nebula_msgs/msg/nebula_packet.hpp>
 #include <nebula_msgs/msg/nebula_packets.hpp>
+#include <pandar_msgs/msg/pandar_packet.hpp>
+#include <pandar_msgs/msg/pandar_scan.hpp>
 
 #include <memory>
 #include <string>
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
index 51e2d028c..649085018 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
@@ -76,7 +76,10 @@ Status HesaiRosOfflineExtractBag::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractBag::GetStatus() {return wrapper_status_;}
+Status HesaiRosOfflineExtractBag::GetStatus()
+{
+  return wrapper_status_;
+}
 
 Status HesaiRosOfflineExtractBag::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -84,14 +87,13 @@ Status HesaiRosOfflineExtractBag::GetParameters(
   drivers::HesaiCorrection & correction_configuration)
 {
   auto sensor_model_ = this->declare_parameter<std::string>("sensor_model", "", param_read_only());
-  sensor_configuration.sensor_model =
-    nebula::drivers::SensorModelFromString(sensor_model_);
+  sensor_configuration.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_);
   auto return_mode_ = this->declare_parameter<std::string>("return_mode", "", param_read_only());
   sensor_configuration.return_mode =
     nebula::drivers::ReturnModeFromStringHesai(return_mode_, sensor_configuration.sensor_model);
   this->declare_parameter<std::string>("frame_id", "pandar", param_read_only());
   sensor_configuration.frame_id = this->get_parameter("frame_id").as_string();
-  
+
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_only();
     descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]";
@@ -100,9 +102,11 @@ Status HesaiRosOfflineExtractBag::GetParameters(
     this->get_parameter("scan_phase").as_double();
   }
 
-  calibration_configuration.calibration_file =this->declare_parameter<std::string>("calibration_file", "", param_read_only());
+  calibration_configuration.calibration_file =
+    this->declare_parameter<std::string>("calibration_file", "", param_read_only());
   if (sensor_configuration.sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
-    correction_file_path = this->declare_parameter<std::string>("correction_file", "", param_read_only());
+    correction_file_path =
+      this->declare_parameter<std::string>("correction_file", "", param_read_only());
   }
 
   bag_path = this->declare_parameter<std::string>("bag_path", "", param_read_only());
@@ -215,7 +219,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
 
       nebula_msgs::msg::NebulaPacket nebula_pkt;
       nebula_pkt.stamp = pkt.stamp;
-      nebula_pkt.data.swap(pkt_data); // move storage from `pkt_data` to `data`
+      nebula_pkt.data.swap(pkt_data);  // move storage from `pkt_data` to `data`
       nebula_msg.packets.push_back(nebula_pkt);
 
       if (!pointcloud) {
@@ -233,7 +237,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
         bag_writer->open(storage_options_w, converter_options_w);
         bag_writer->create_topic(
           {bag_message->topic_name, "nebula_msgs/msg/NebulaPackets", rmw_get_serialization_format(),
-            ""});
+           ""});
       }
 
       bag_writer->write(bag_message);
@@ -248,7 +252,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
           pcd_writer.writeBinary((o_dir / fn).string(), *pointcloud);
         }
       }
-      
+
       if (out_num <= out_cnt) {
         break;
       }
diff --git a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
index bd992ee19..8e134f8aa 100644
--- a/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
+++ b/nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
@@ -77,7 +77,10 @@ Status HesaiRosOfflineExtractSample::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractSample::GetStatus() {return wrapper_status_;}
+Status HesaiRosOfflineExtractSample::GetStatus()
+{
+  return wrapper_status_;
+}
 
 Status HesaiRosOfflineExtractSample::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -104,7 +107,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
     sensor_configuration.return_mode =
       //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
       nebula::drivers::ReturnModeFromStringHesai(
-      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+        this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -282,7 +285,8 @@ Status HesaiRosOfflineExtractSample::ReadBag()
         //        driver_ptr_->ConvertScanToPointcloud(
         //          std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg));
         for (auto & pkt : extracted_msg.packets) {
-          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+          auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+            std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
           auto pointcloud = std::get<0>(pointcloud_ts);
 
           if (!pointcloud) {
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
index a6d78c45e..13ad0ed53 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -10,7 +10,7 @@
 #include <ostream>
 #include <string>
 
-using namespace boost::endian;
+using namespace boost::endian;  // NOLINT(build/namespaces)
 
 namespace nebula
 {
@@ -100,7 +100,7 @@ struct HesaiPtpDiagTime
     os << ", ";
     os << "gmTimeBaseIndicator: " << arg.gmTimeBaseIndicator;
     os << ", ";
-    //FIXME: lastGmPhaseChange is a binary number, displaying it as string is incorrect
+    // FIXME: lastGmPhaseChange is a binary number, displaying it as string is incorrect
     os << "lastGmPhaseChange: "
        << std::string(std::begin(arg.lastGmPhaseChange), std::end(arg.lastGmPhaseChange));
     os << ", ";
@@ -158,7 +158,9 @@ struct HesaiInventory
     os << "sn: " << std::string(arg.sn, strnlen(arg.sn, sizeof(arg.sn)));
     os << ", ";
     os << "date_of_manufacture: "
-       << std::string(arg.date_of_manufacture, strnlen(arg.date_of_manufacture, sizeof(arg.date_of_manufacture)));
+       << std::string(
+            arg.date_of_manufacture,
+            strnlen(arg.date_of_manufacture, sizeof(arg.date_of_manufacture)));
     os << ", ";
     os << "mac: ";
 
@@ -256,7 +258,7 @@ struct HesaiConfig
   uint8_t motor_status;
   uint8_t vlan_flag;
   big_uint16_buf_t vlan_id;
-  uint8_t clock_data_fmt; //FIXME: labeled as gps_nmea_sentence in AT128, OT128 datasheets
+  uint8_t clock_data_fmt;  // FIXME: labeled as gps_nmea_sentence in AT128, OT128 datasheets
   uint8_t noise_filtering;
   uint8_t reflectivity_mapping;
   uint8_t reserved[6];
@@ -266,29 +268,17 @@ struct HesaiConfig
     std::ios initial_format(nullptr);
     initial_format.copyfmt(os);
 
-    os << "ipaddr: " 
-       << +arg.ipaddr[0] << "." 
-       << +arg.ipaddr[1] << "." 
-       << +arg.ipaddr[2] << "." 
+    os << "ipaddr: " << +arg.ipaddr[0] << "." << +arg.ipaddr[1] << "." << +arg.ipaddr[2] << "."
        << +arg.ipaddr[3];
     os << ", ";
-    os << "mask: " 
-       << +arg.mask[0] << "." 
-       << +arg.mask[1] << "."
-       << +arg.mask[2] << "." 
+    os << "mask: " << +arg.mask[0] << "." << +arg.mask[1] << "." << +arg.mask[2] << "."
        << +arg.mask[3];
     os << ", ";
-    os << "gateway: " 
-       << +arg.gateway[0] << "." 
-       << +arg.gateway[1] << "." 
-       << +arg.gateway[2] << "." 
+    os << "gateway: " << +arg.gateway[0] << "." << +arg.gateway[1] << "." << +arg.gateway[2] << "."
        << +arg.gateway[3];
     os << ", ";
-    os << "dest_ipaddr: " 
-       << +arg.dest_ipaddr[0] << "."
-       << +arg.dest_ipaddr[1] << "." 
-       << +arg.dest_ipaddr[2] << "."
-       << +arg.dest_ipaddr[3];
+    os << "dest_ipaddr: " << +arg.dest_ipaddr[0] << "." << +arg.dest_ipaddr[1] << "."
+       << +arg.dest_ipaddr[2] << "." << +arg.dest_ipaddr[3];
     os << ", ";
     os << "dest_LiDAR_udp_port: " << arg.dest_LiDAR_udp_port;
     os << ", ";
@@ -351,7 +341,7 @@ struct HesaiLidarStatus
   big_uint32_buf_t startup_times;
   big_uint32_buf_t total_operation_time;
   uint8_t ptp_clock_status;
-  uint8_t reserved[5]; // FIXME: 4 bytes labeled as humidity in OT128 datasheet
+  uint8_t reserved[5];  // FIXME: 4 bytes labeled as humidity in OT128 datasheet
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarStatus const & arg)
   {
@@ -463,7 +453,7 @@ struct HesaiPtpConfig
   int8_t logAnnounceInterval;
   int8_t logSyncInterval;
   int8_t logMinDelayReqInterval;
-  //FIXME: this format is not correct for OT128, or for AT128 on 802.1AS
+  // FIXME: this format is not correct for OT128, or for AT128 on 802.1AS
 
   friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpConfig const & arg)
   {
@@ -489,7 +479,7 @@ struct HesaiPtpConfig
 /// @brief struct of PTC_COMMAND_LIDAR_MONITOR
 struct HesaiLidarMonitor
 {
-  //FIXME: this format is not correct for OT128
+  // FIXME: this format is not correct for OT128
   big_int32_buf_t input_voltage;
   big_int32_buf_t input_current;
   big_int32_buf_t input_power;
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index 8dc270b8e..10a1ec93f 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -30,6 +30,7 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
 #include <vector>
 
 namespace nebula
@@ -169,8 +170,8 @@ class HesaiHwInterface
   std::string PrettyPrintPTCError(ptc_error_t error_code);
 
   /// @brief Checks if the data size matches that of the struct to be parsed, and parses the struct.
-  /// If data is too small, a std::runtime_error is thrown. If data is too large, a warning is printed
-  /// and the struct is parsed with the first sizeof(T) bytes.
+  /// If data is too small, a std::runtime_error is thrown. If data is too large, a warning is
+  /// printed and the struct is parsed with the first sizeof(T) bytes.
   template <typename T>
   T CheckSizeAndParse(const std::vector<uint8_t> & data);
 
@@ -223,8 +224,7 @@ class HesaiHwInterface
   /// @brief Registering callback for PandarScan
   /// @param scan_callback Callback function
   /// @return Resulting status
-  Status RegisterScanCallback(
-    std::function<void(std::vector<uint8_t> &)> scan_callback);
+  Status RegisterScanCallback(std::function<void(std::vector<uint8_t> &)> scan_callback);
   /// @brief Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION
   /// @return Resulting status
   std::string GetLidarCalibrationString();
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index a28ffd7d2..29b260098 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -43,14 +43,16 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   send_buf.emplace_back(len & 0xff);
   send_buf.insert(send_buf.end(), payload.begin(), payload.end());
 
-  // These are shared_ptrs so that in case of request timeout, the callback (if ever called) can access valid memory
+  // These are shared_ptrs so that in case of request timeout, the callback (if ever called) can
+  // access valid memory
   auto recv_buf = std::make_shared<std::vector<uint8_t>>();
   auto response_complete = std::make_shared<bool>(false);
 
   auto error_code = std::make_shared<ptc_error_t>();
 
   std::stringstream ss;
-  ss << "0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(command_id) << " (" << len << ") ";
+  ss << "0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(command_id)
+     << " (" << len << ") ";
   std::string log_tag = ss.str();
 
   PrintDebug(log_tag + "Entering lock");
@@ -66,21 +68,26 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   PrintDebug(log_tag + "Sending payload");
   tcp_driver_->asyncSendReceiveHeaderPayload(
     send_buf,
-    [this, log_tag, command_id, response_complete, error_code](const std::vector<uint8_t> & header_bytes) {
+    [this, log_tag, command_id, response_complete,
+     error_code](const std::vector<uint8_t> & header_bytes) {
       error_code->ptc_error_code = header_bytes[3];
 
-      size_t payload_len = (header_bytes[4] << 24) | (header_bytes[5] << 16) | (header_bytes[6] << 8) | header_bytes[7];
-      PrintDebug(log_tag + "Received header (expecting " + std::to_string(payload_len) + "B payload)");
-      // If command_id in the response does not match, we got a response for another command (or rubbish), probably as a
-      // result of too many simultaneous TCP connections to the sensor (e.g. from GUI, Web UI, another nebula instance, etc.)
+      size_t payload_len = (header_bytes[4] << 24) | (header_bytes[5] << 16) |
+                           (header_bytes[6] << 8) | header_bytes[7];
+      PrintDebug(
+        log_tag + "Received header (expecting " + std::to_string(payload_len) + "B payload)");
+      // If command_id in the response does not match, we got a response for another command (or
+      // rubbish), probably as a result of too many simultaneous TCP connections to the sensor (e.g.
+      // from GUI, Web UI, another nebula instance, etc.)
       if (header_bytes[2] != command_id) {
         error_code->error_flags |= TCP_ERROR_UNRELATED_RESPONSE;
       }
-      if (payload_len == 0) { 
-        *response_complete = true; 
+      if (payload_len == 0) {
+        *response_complete = true;
       }
     },
-    [this, log_tag, recv_buf, response_complete, error_code](const std::vector<uint8_t> & payload_bytes) {
+    [this, log_tag, recv_buf, response_complete,
+     error_code](const std::vector<uint8_t> & payload_bytes) {
       PrintDebug(log_tag + "Received payload");
 
       // Header had payload length 0 (thus, header callback processed request successfully already),
@@ -96,7 +103,7 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
     },
     [this, log_tag, &tm]() {
       PrintDebug(log_tag + "Unlocking mutex");
-      tm.unlock(); 
+      tm.unlock();
       PrintDebug(log_tag + "Unlocked mutex");
     });
   this->IOContextRun();
@@ -177,7 +184,8 @@ Status HesaiHwInterface::SensorInterfaceStop()
   return Status::ERROR_1;
 }
 
-Status HesaiHwInterface::GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration)
+Status HesaiHwInterface::GetSensorConfiguration(
+  const SensorConfigurationBase & sensor_configuration)
 {
   std::stringstream ss;
   ss << sensor_configuration;
@@ -251,7 +259,8 @@ std::vector<uint8_t> HesaiHwInterface::GetLidarCalibrationBytes()
 std::string HesaiHwInterface::GetLidarCalibrationString()
 {
   auto response_or_err = SendReceive(PTC_COMMAND_GET_LIDAR_CALIBRATION);
-  auto calib_data = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
+  auto calib_data =
+    response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   std::string calib_string(calib_data.begin(), calib_data.end());
   return calib_string;
 }
@@ -297,7 +306,8 @@ HesaiPtpDiagTime HesaiHwInterface::GetPtpDiagTime()
 
 HesaiPtpDiagGrandmaster HesaiHwInterface::GetPtpDiagGrandmaster()
 {
-  auto response_or_err = SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
+  auto response_or_err =
+    SendReceive(PTC_COMMAND_PTP_DIAGNOSTICS, {PTC_COMMAND_PTP_GRANDMASTER_SETTINGS_NP});
   auto response = response_or_err.value_or_throw(PrettyPrintPTCError(response_or_err.error_or({})));
   auto diag_grandmaster = CheckSizeAndParse<HesaiPtpDiagGrandmaster>(response);
 
@@ -476,15 +486,15 @@ HesaiLidarRangeAll HesaiHwInterface::GetLidarRange()
       if (response.size() != 5) {
         throw std::runtime_error("Unexpected response payload");
       }
-      
+
       memcpy(&hesai_range_all.start, &response[1], 2);
       memcpy(&hesai_range_all.end, &response[3], 2);
       break;
     case 1:  // for each channel
-      //TODO
+      // TODO(yukkysaito)
       break;
     case 2:  // multi-section FOV
-      //TODO
+      // TODO(yukkysaito)
       break;
   }
 
@@ -756,7 +766,7 @@ HesaiStatus HesaiHwInterface::GetLidarMonitorAsyncHttp(
 HesaiStatus HesaiHwInterface::CheckAndSetConfig(
   std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration, HesaiConfig hesai_config)
 {
-  using namespace std::chrono_literals;
+  using namespace std::chrono_literals;  // NOLINT(build/namespaces)
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
   std::cout << "Start CheckAndSetConfig(HesaiConfig)!!" << std::endl;
 #endif
@@ -788,7 +798,9 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 
   auto current_rotation_speed = hesai_config.spin_rate;
   if (sensor_configuration->rotation_speed != current_rotation_speed.value()) {
-    PrintInfo("current lidar rotation_speed: " + std::to_string(static_cast<int>(current_rotation_speed.value())));
+    PrintInfo(
+      "current lidar rotation_speed: " +
+      std::to_string(static_cast<int>(current_rotation_speed.value())));
     PrintInfo(
       "current configuration rotation_speed: " +
       std::to_string(sensor_configuration->rotation_speed));
@@ -806,8 +818,10 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
 
   bool set_flg = false;
   std::stringstream ss;
-  ss << static_cast<int>(hesai_config.dest_ipaddr[0]) << "." << static_cast<int>(hesai_config.dest_ipaddr[1]) << "."
-     << static_cast<int>(hesai_config.dest_ipaddr[2]) << "." << static_cast<int>(hesai_config.dest_ipaddr[3]);
+  ss << static_cast<int>(hesai_config.dest_ipaddr[0]) << "."
+     << static_cast<int>(hesai_config.dest_ipaddr[1]) << "."
+     << static_cast<int>(hesai_config.dest_ipaddr[2]) << "."
+     << static_cast<int>(hesai_config.dest_ipaddr[3]);
   auto current_host_addr = ss.str();
   if (sensor_configuration->host_ip != current_host_addr) {
     set_flg = true;
@@ -818,7 +832,9 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
   auto current_host_dport = hesai_config.dest_LiDAR_udp_port;
   if (sensor_configuration->data_port != current_host_dport.value()) {
     set_flg = true;
-    PrintInfo("current lidar dest_LiDAR_udp_port: " + std::to_string(static_cast<int>(current_host_dport.value())));
+    PrintInfo(
+      "current lidar dest_LiDAR_udp_port: " +
+      std::to_string(static_cast<int>(current_host_dport.value())));
     PrintInfo(
       "current configuration data_port: " + std::to_string(sensor_configuration->data_port));
   }
@@ -826,7 +842,9 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
   auto current_host_tport = hesai_config.dest_gps_udp_port;
   if (sensor_configuration->gnss_port != current_host_tport.value()) {
     set_flg = true;
-    PrintInfo("current lidar dest_gps_udp_port: " + std::to_string(static_cast<int>(current_host_tport.value())));
+    PrintInfo(
+      "current lidar dest_gps_udp_port: " +
+      std::to_string(static_cast<int>(current_host_tport.value())));
     PrintInfo(
       "current configuration gnss_port: " + std::to_string(sensor_configuration->gnss_port));
   }
@@ -930,18 +948,26 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
     set_flg = true;
   } else {
     auto current_cloud_min_angle = hesai_lidar_range_all.start;
-    if (static_cast<int>(sensor_configuration->cloud_min_angle * 10) != current_cloud_min_angle.value()) {
+    if (
+      static_cast<int>(sensor_configuration->cloud_min_angle * 10) !=
+      current_cloud_min_angle.value()) {
       set_flg = true;
-      PrintInfo("current lidar range.start: " + std::to_string(static_cast<int>(current_cloud_min_angle.value())));
+      PrintInfo(
+        "current lidar range.start: " +
+        std::to_string(static_cast<int>(current_cloud_min_angle.value())));
       PrintInfo(
         "current configuration cloud_min_angle: " +
         std::to_string(sensor_configuration->cloud_min_angle));
     }
 
     auto current_cloud_max_angle = hesai_lidar_range_all.end;
-    if (static_cast<int>(sensor_configuration->cloud_max_angle * 10) != current_cloud_max_angle.value()) {
+    if (
+      static_cast<int>(sensor_configuration->cloud_max_angle * 10) !=
+      current_cloud_max_angle.value()) {
       set_flg = true;
-      PrintInfo("current lidar range.end: " + std::to_string(static_cast<int>(current_cloud_max_angle.value())));
+      PrintInfo(
+        "current lidar range.end: " +
+        std::to_string(static_cast<int>(current_cloud_max_angle.value())));
       PrintInfo(
         "current configuration cloud_max_angle: " +
         std::to_string(sensor_configuration->cloud_max_angle));
@@ -1181,7 +1207,8 @@ void HesaiHwInterface::PrintDebug(const std::vector<uint8_t> & bytes)
   PrintDebug(ss.str());
 }
 
-std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
+std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code)
+{
   if (error_code.ok()) {
     return "No error";
   }
@@ -1191,10 +1218,11 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
   std::stringstream ss;
 
   if (ptc_error) {
-    ss << "Sensor error: 0x" << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(ptc_error) << ' ';
+    ss << "Sensor error: 0x" << std::setfill('0') << std::setw(2) << std::hex
+       << static_cast<int>(ptc_error) << ' ';
   }
 
-  switch(ptc_error) {
+  switch (ptc_error) {
     case PTC_ERROR_CODE_NO_ERROR:
       break;
     case PTC_ERROR_CODE_INVALID_INPUT_PARAM:
@@ -1253,7 +1281,8 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code) {
 }
 
 template <typename T>
-T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data) {
+T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data)
+{
   if (data.size() < sizeof(T)) {
     throw std::runtime_error("Attempted to parse too-small payload");
   } else if (data.size() > sizeof(T)) {
diff --git a/nebula_messages/nebula_msgs/CMakeLists.txt b/nebula_messages/nebula_msgs/CMakeLists.txt
index e2b798d9d..2ffa068a5 100644
--- a/nebula_messages/nebula_msgs/CMakeLists.txt
+++ b/nebula_messages/nebula_msgs/CMakeLists.txt
@@ -21,4 +21,4 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         std_msgs
         )
 
-ament_package()
\ No newline at end of file
+ament_package()
diff --git a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
index be5898eb1..f6ba285d8 100644
--- a/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
+++ b/nebula_messages/nebula_msgs/msg/NebulaPacket.msg
@@ -1,2 +1,2 @@
 builtin_interfaces/Time stamp
-uint8[] data
\ No newline at end of file
+uint8[] data
diff --git a/nebula_messages/nebula_msgs/package.xml b/nebula_messages/nebula_msgs/package.xml
index 3eb05e603..cdd135c37 100644
--- a/nebula_messages/nebula_msgs/package.xml
+++ b/nebula_messages/nebula_msgs/package.xml
@@ -22,4 +22,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/nebula_ros/include/nebula_ros/common/mt_queue.hpp b/nebula_ros/include/nebula_ros/common/mt_queue.hpp
index d60b7b4db..aca385ce3 100644
--- a/nebula_ros/include/nebula_ros/common/mt_queue.hpp
+++ b/nebula_ros/include/nebula_ros/common/mt_queue.hpp
@@ -1,9 +1,10 @@
 #pragma once
 
+#include <chrono>
 #include <condition_variable>
 #include <deque>
 #include <mutex>
-#include <chrono>
+#include <utility>
 
 template <typename T>
 class mt_queue
@@ -15,7 +16,7 @@ class mt_queue
   size_t capacity_;
 
 public:
-  mt_queue(size_t capacity) : capacity_(capacity) {}
+  explicit mt_queue(size_t capacity) : capacity_(capacity) {}
 
   bool try_push(T && value)
   {
@@ -46,4 +47,4 @@ class mt_queue
 
     return return_value;
   }
-};
\ No newline at end of file
+};
diff --git a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
index b54d8ad63..6d4e38504 100644
--- a/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
+++ b/nebula_ros/include/nebula_ros/common/parameter_descriptors.hpp
@@ -1,9 +1,11 @@
 #pragma once
 
-#include <rcl_interfaces/msg/parameter_descriptor.hpp>
 #include <rcl_interfaces/msg/parameter.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <string>
+#include <vector>
 namespace nebula
 {
 namespace ros
@@ -13,10 +15,11 @@ rcl_interfaces::msg::ParameterDescriptor param_read_write();
 
 rcl_interfaces::msg::ParameterDescriptor param_read_only();
 
-rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop,
-                                                                                 double step);
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(
+  double start, double stop, double step);
 
-rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step);
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(
+  int start, int stop, int step);
 
 /// @brief Get a parameter's value from a list of parameters, if that parameter is in the list.
 /// @tparam T The parameter's expected value type
@@ -25,12 +28,12 @@ rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int star
 /// @param value (out) Parameter value. Set if parameter is found, left untouched otherwise.
 /// @return Whether the target name existed
 template <typename T>
-bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name, T& value)
+bool get_param(const std::vector<rclcpp::Parameter> & p, const std::string & name, T & value)
 {
-  auto it = std::find_if(p.cbegin(), p.cend(),
-                         [&name](const rclcpp::Parameter & parameter) { return parameter.get_name() == name; });
-  if (it != p.cend())
-  {
+  auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) {
+    return parameter.get_name() == name;
+  });
+  if (it != p.cend()) {
     value = it->template get_value<T>();
     return true;
   }
@@ -38,4 +41,4 @@ bool get_param(const std::vector<rclcpp::Parameter>& p, const std::string& name,
 }
 
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
index ae556e33e..e6320f91e 100644
--- a/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
+++ b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
@@ -1,9 +1,10 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <cstdint>
+
 #include <atomic>
 #include <chrono>
+#include <cstdint>
 #include <functional>
 
 namespace nebula
@@ -16,19 +17,19 @@ class WatchdogTimer
   using watchdog_cb_t = std::function<void(bool)>;
 
 public:
-  WatchdogTimer(rclcpp::Node& node, const std::chrono::microseconds& expected_update_interval, const watchdog_cb_t& callback)
-    : node_(node)
-    , callback_(callback)
-    , expected_update_interval_ns_(
-          std::chrono::duration_cast<std::chrono::nanoseconds>(expected_update_interval).count())
+  WatchdogTimer(
+    rclcpp::Node & node, const std::chrono::microseconds & expected_update_interval,
+    const watchdog_cb_t & callback)
+  : node_(node),
+    callback_(callback),
+    expected_update_interval_ns_(
+      std::chrono::duration_cast<std::chrono::nanoseconds>(expected_update_interval).count())
   {
-    timer_ = node_.create_wall_timer(expected_update_interval, std::bind(&WatchdogTimer::onTimer, this));
+    timer_ =
+      node_.create_wall_timer(expected_update_interval, std::bind(&WatchdogTimer::onTimer, this));
   }
 
-  void update()
-  {
-    last_update_ns_ = node_.get_clock()->now().nanoseconds();
-  }
+  void update() { last_update_ns_ = node_.get_clock()->now().nanoseconds(); }
 
 private:
   void onTimer()
@@ -40,7 +41,7 @@ class WatchdogTimer
     callback_(!is_late);
   }
 
-  rclcpp::Node& node_;
+  rclcpp::Node & node_;
   rclcpp::TimerBase::SharedPtr timer_;
   std::atomic<uint64_t> last_update_ns_;
   const watchdog_cb_t callback_;
@@ -49,4 +50,4 @@ class WatchdogTimer
 };
 
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
index da5e60ff0..b2bdf856c 100644
--- a/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp
@@ -16,6 +16,8 @@
 #include <filesystem>
 #include <memory>
 #include <mutex>
+#include <string>
+#include <vector>
 
 namespace nebula
 {
@@ -23,22 +25,26 @@ namespace ros
 {
 class HesaiDecoderWrapper
 {
-  using get_calibration_result_t =
-      nebula::util::expected<std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>;
+  using get_calibration_result_t = nebula::util::expected<
+    std::shared_ptr<drivers::HesaiCalibrationConfigurationBase>, nebula::Status>;
 
 public:
-  HesaiDecoderWrapper(rclcpp::Node* const parent_node,
-                      const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                      std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
+  HesaiDecoderWrapper(
+    rclcpp::Node * const parent_node,
+    const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
+    std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);
 
   void ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
 
-  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config);
+  void OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
 
-  void
-  OnCalibrationChange(const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration);
+  void OnCalibrationChange(
+    const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase> &
+      new_calibration);
 
-  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(
+    const std::vector<rclcpp::Parameter> & p);
 
   nebula::Status Status();
 
@@ -48,19 +54,23 @@ class HesaiDecoderWrapper
   /// 2. If downloaded file available, load that file
   /// 3. Load the file given by `calibration_file_path`
   /// @param calibration_file_path The file to use if no better option is available
-  /// @param ignore_others If true, skip straight so step 3 above, ignoring better calibration options
+  /// @param ignore_others If true, skip straight so step 3 above, ignoring better calibration
+  /// options
   /// @return The calibration data if successful, or an error code if not
-  get_calibration_result_t GetCalibrationData(const std::string& calibration_file_path, bool ignore_others = false);
+  get_calibration_result_t GetCalibrationData(
+    const std::string & calibration_file_path, bool ignore_others = false);
 
-  void PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-                    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher);
+  void PublishCloud(
+    std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+    const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
 
   /// @brief Convert seconds to chrono::nanoseconds
   /// @param seconds
   /// @return chrono::nanoseconds
   static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds)
   {
-    return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(seconds));
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+      std::chrono::duration<double>(seconds));
   }
 
   nebula::Status status_;
@@ -85,4 +95,4 @@ class HesaiDecoderWrapper
   std::shared_ptr<WatchdogTimer> cloud_watchdog_;
 };
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
index ed76343c7..0a60d3e8e 100644
--- a/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hesai_ros_wrapper.hpp
@@ -1,16 +1,15 @@
 #pragma once
 
 #include "boost_tcp_driver/tcp_driver.hpp"
-
 #include "nebula_common/hesai/hesai_common.hpp"
 #include "nebula_common/nebula_common.hpp"
 #include "nebula_common/nebula_status.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+#include "nebula_ros/common/mt_queue.hpp"
+#include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/hesai/decoder_wrapper.hpp"
 #include "nebula_ros/hesai/hw_interface_wrapper.hpp"
 #include "nebula_ros/hesai/hw_monitor_wrapper.hpp"
-#include "nebula_ros/common/mt_queue.hpp"
-#include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -24,9 +23,11 @@
 
 #include <array>
 #include <chrono>
+#include <memory>
 #include <mutex>
 #include <optional>
 #include <thread>
+#include <vector>
 
 namespace nebula
 {
@@ -37,7 +38,7 @@ namespace ros
 class HesaiRosWrapper final : public rclcpp::Node
 {
 public:
-  explicit HesaiRosWrapper(const rclcpp::NodeOptions& options);
+  explicit HesaiRosWrapper(const rclcpp::NodeOptions & options);
   ~HesaiRosWrapper() noexcept {};
 
   /// @brief Get current status of this driver
@@ -49,7 +50,7 @@ class HesaiRosWrapper final : public rclcpp::Node
   Status StreamStart();
 
 private:
-  void ReceiveCloudPacketCallback(std::vector<uint8_t>& packet);
+  void ReceiveCloudPacketCallback(std::vector<uint8_t> & packet);
 
   void ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg);
 
@@ -58,9 +59,11 @@ class HesaiRosWrapper final : public rclcpp::Node
   /// @brief rclcpp parameter callback
   /// @param parameters Received parameters
   /// @return SetParametersResult
-  rcl_interfaces::msg::SetParametersResult OnParameterChange(const std::vector<rclcpp::Parameter>& p);
+  rcl_interfaces::msg::SetParametersResult OnParameterChange(
+    const std::vector<rclcpp::Parameter> & p);
 
-  Status ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config);
+  Status ValidateAndSetConfig(
+    std::shared_ptr<const drivers::HesaiSensorConfiguration> & new_config);
 
   Status wrapper_status_;
 
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
index cbf78d130..0791af5e2 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -3,7 +3,6 @@
 #include "nebula_ros/common/parameter_descriptors.hpp"
 
 #include <nebula_common/hesai/hesai_common.hpp>
-
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -16,10 +15,12 @@ namespace ros
 class HesaiHwInterfaceWrapper
 {
 public:
-  HesaiHwInterfaceWrapper(rclcpp::Node* const parent_node,
-                          std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
+  HesaiHwInterfaceWrapper(
+    rclcpp::Node * const parent_node,
+    std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);
 
-  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
+  void OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config);
 
   nebula::Status Status();
 
@@ -32,4 +33,4 @@ class HesaiHwInterfaceWrapper
   bool setup_sensor_;
 };
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
index 5209f64a2..0b270623f 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_monitor_wrapper.hpp
@@ -4,7 +4,6 @@
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
-
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -15,6 +14,8 @@
 
 #include <array>
 #include <memory>
+#include <string>
+#include <vector>
 
 namespace nebula
 {
@@ -23,18 +24,22 @@ namespace ros
 class HesaiHwMonitorWrapper
 {
 public:
-  HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
-                        const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                        std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config);
+  HesaiHwMonitorWrapper(
+    rclcpp::Node * const parent_node,
+    const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
+    std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);
 
-  void OnConfigChange(const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & /* new_config */) {}
+  void OnConfigChange(
+    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & /* new_config */)
+  {
+  }
 
   nebula::Status Status();
 
 private:
   void InitializeHesaiDiagnostics();
 
-  std::string GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key);
+  std::string GetPtreeValue(boost::property_tree::ptree * pt, const std::string & key);
 
   std::string GetFixedPrecisionString(double val, int pre);
 
@@ -44,24 +49,24 @@ class HesaiHwMonitorWrapper
 
   void OnHesaiLidarMonitorTimer();
 
-  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
-  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics);
+  void HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);
 
   rclcpp::Logger logger_;
   diagnostic_updater::Updater diagnostics_updater_;
   nebula::Status status_;
 
   const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
-  rclcpp::Node* const parent_node_;
+  rclcpp::Node * const parent_node_;
 
   uint16_t diag_span_;
   rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
@@ -95,4 +100,4 @@ class HesaiHwMonitorWrapper
   const std::string MSG_SEP = ": ";
 };
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
index b0f804441..10c7aa218 100644
--- a/nebula_ros/launch/hesai_launch_all_hw.xml
+++ b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -35,7 +35,7 @@
 
     <let name="rotation_speed" value="200" if="$(eval '\'$(var sensor_model)\' == \'PandarAT128\'')"/>
 
-    <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container" 
+    <node_container pkg="rclcpp_components" exec="component_container" name="nebula_container"
         output="screen" ros_args="--log-level $(var debug_level)" namespace="">
         <composable_node pkg="nebula_ros" plugin="HesaiRosWrapper"
                name="nebula_hesai">
@@ -47,7 +47,7 @@
             <param name="calibration_file" value="$(var calibration_file)"/>
             <param name="correction_file" value="$(var correction_file)"/>
             <param name="launch_hw" value="$(var launch_hw)"/>
-    
+
             <param name="host_ip" value="$(var host_ip)"/>
             <param name="data_port" value="$(var data_port)"/>
             <param name="gnss_port" value="$(var gnss_port)"/>
@@ -62,7 +62,7 @@
             <param name="ptp_domain" value="$(var ptp_domain)"/>
             <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
             <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
-    
+
             <param name="diag_span" value="$(var diag_span)"/>
         </composable_node>
     </node_container>
diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py
index 74d3eb475..6eee53443 100644
--- a/nebula_ros/launch/nebula_launch.py
+++ b/nebula_ros/launch/nebula_launch.py
@@ -26,6 +26,7 @@ def get_sensor_make(sensor_name):
         return "Continental", None
     return "unrecognized_sensor_model", None
 
+
 def get_plugin_name(sensor_make, sensor_model):
     if sensor_make.lower() != "continental":
         return sensor_make
@@ -34,9 +35,11 @@ def get_plugin_name(sensor_make, sensor_model):
     else:
         return "invalid_plugin"
 
+
 def is_hw_monitor_available(sensor_make):
     return sensor_make.lower() != "continental"
 
+
 def launch_setup(context, *args, **kwargs):
     # Model and make
     sensor_model = LaunchConfiguration("sensor_model").perform(context)
@@ -44,7 +47,9 @@ def launch_setup(context, *args, **kwargs):
     sensor_make, sensor_extension = get_sensor_make(sensor_model)
 
     if sensor_make.lower() == "hesai":
-        raise ValueError("\n  `nebula_launch.py` is deprecated. For Hesai sensors, use `hesai_launch_all_hw.xml` instead.")
+        raise ValueError(
+            "\n  `nebula_launch.py` is deprecated. For Hesai sensors, use `hesai_launch_all_hw.xml` instead."
+        )
 
     nebula_decoders_share_dir = get_package_share_directory("nebula_decoders")
     nebula_ros_share_dir = get_package_share_directory("nebula_ros")
@@ -53,23 +58,36 @@ def launch_setup(context, *args, **kwargs):
     sensor_params_fp = LaunchConfiguration("config_file").perform(context)
     if sensor_params_fp == "":
         warnings.warn("No config file provided, using sensor model default", RuntimeWarning)
-        sensor_params_fp = os.path.join(nebula_ros_share_dir, "config", sensor_make.lower(), sensor_model + ".yaml")
+        sensor_params_fp = os.path.join(
+            nebula_ros_share_dir, "config", sensor_make.lower(), sensor_model + ".yaml"
+        )
 
     if not os.path.exists(sensor_params_fp):
         sensor_params_fp = os.path.join(nebula_ros_share_dir, "config", "BaseParams.yaml")
-    assert os.path.exists(sensor_params_fp), "Sensor params yaml file under config/ was not found: {}".format(sensor_params_fp)
+    assert os.path.exists(
+        sensor_params_fp
+    ), "Sensor params yaml file under config/ was not found: {}".format(sensor_params_fp)
 
     sensor_calib_fp = sensor_corr_fp = ""
     if sensor_extension is not None:  # Velodyne and Hesai
-        sensor_calib_fp = os.path.join(nebula_decoders_share_dir, "calibration", sensor_make.lower(), sensor_model + sensor_extension)
-        assert os.path.exists(sensor_calib_fp), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
+        sensor_calib_fp = os.path.join(
+            nebula_decoders_share_dir,
+            "calibration",
+            sensor_make.lower(),
+            sensor_model + sensor_extension,
+        )
+        assert os.path.exists(
+            sensor_calib_fp
+        ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp)
 
         if sensor_model.lower() == "pandarat128":
             sensor_corr_fp = os.path.splitext(sensor_calib_fp)[0] + ".dat"
-            assert os.path.exists(sensor_corr_fp), "Sensor corr file under calibration/ was not found: {}".format(sensor_corr_fp)
+            assert os.path.exists(
+                sensor_corr_fp
+            ), "Sensor corr file under calibration/ was not found: {}".format(sensor_corr_fp)
 
     with open(sensor_params_fp, "r") as f:
-            sensor_params = yaml.safe_load(f)["/**"]["ros__parameters"]
+        sensor_params = yaml.safe_load(f)["/**"]["ros__parameters"]
     nodes = []
     launch_hw = LaunchConfiguration("launch_hw").perform(context) == "true"
 
@@ -78,8 +96,8 @@ def launch_setup(context, *args, **kwargs):
             # HwInterface
             ComposableNode(
                 package="nebula_ros",
-                plugin=get_plugin_name(sensor_make, sensor_model)+"HwInterfaceRosWrapper",
-                name=sensor_make.lower()+"_hw_interface_ros_wrapper_node",
+                plugin=get_plugin_name(sensor_make, sensor_model) + "HwInterfaceRosWrapper",
+                name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
                 parameters=[
                     sensor_params,
                     {
@@ -97,14 +115,13 @@ def launch_setup(context, *args, **kwargs):
             ),
         )
 
-
     if launch_hw and is_hw_monitor_available(sensor_make):
         nodes.append(
             # HwMonitor
             ComposableNode(
                 package="nebula_ros",
-                plugin=sensor_make+"HwMonitorRosWrapper",
-                name=sensor_make.lower()+"_hw_monitor_ros_wrapper_node",
+                plugin=sensor_make + "HwMonitorRosWrapper",
+                name=sensor_make.lower() + "_hw_monitor_ros_wrapper_node",
                 parameters=[
                     sensor_params,
                     {
@@ -119,8 +136,8 @@ def launch_setup(context, *args, **kwargs):
     nodes.append(
         ComposableNode(
             package="nebula_ros",
-            plugin=get_plugin_name(sensor_make, sensor_model)+"DriverRosWrapper",
-            name=sensor_make.lower()+"_driver_ros_wrapper_node",
+            plugin=get_plugin_name(sensor_make, sensor_model) + "DriverRosWrapper",
+            name=sensor_make.lower() + "_driver_ros_wrapper_node",
             parameters=[
                 sensor_params,
                 {
@@ -146,7 +163,7 @@ def launch_setup(context, *args, **kwargs):
 
     container_kwargs = {}
     if LaunchConfiguration("debug_logging").perform(context) == "true":
-        container_kwargs["ros_arguments"] = ['--log-level', 'debug']
+        container_kwargs["ros_arguments"] = ["--log-level", "debug"]
 
     container = ComposableNodeContainer(
         name="nebula_ros_node",
diff --git a/nebula_ros/package.xml b/nebula_ros/package.xml
index e918afdc7..a0bdec51f 100644
--- a/nebula_ros/package.xml
+++ b/nebula_ros/package.xml
@@ -21,6 +21,8 @@
   <depend>nebula_common</depend>
   <depend>nebula_decoders</depend>
   <depend>nebula_hw_interfaces</depend>
+  <depend>nebula_msgs</depend>
+  <depend>pandar_msgs</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
@@ -31,8 +33,6 @@
   <depend>velodyne_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>yaml-cpp</depend>
-  <depend>nebula_msgs</depend>
-  <depend>pandar_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nebula_ros/src/common/parameter_descriptors.cpp b/nebula_ros/src/common/parameter_descriptors.cpp
index ffd0fff37..b62cb8a9e 100644
--- a/nebula_ros/src/common/parameter_descriptors.cpp
+++ b/nebula_ros/src/common/parameter_descriptors.cpp
@@ -15,15 +15,20 @@ rcl_interfaces::msg::ParameterDescriptor param_read_only()
   return rcl_interfaces::msg::ParameterDescriptor{}.set__read_only(true);
 }
 
-rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(double start, double stop, double step)
+rcl_interfaces::msg::ParameterDescriptor::_floating_point_range_type float_range(
+  double start, double stop, double step)
 {
-  return { rcl_interfaces::msg::FloatingPointRange().set__from_value(start).set__to_value(stop).set__step(step) };
+  return {
+    rcl_interfaces::msg::FloatingPointRange().set__from_value(start).set__to_value(stop).set__step(
+      step)};
 }
 
-rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(int start, int stop, int step)
+rcl_interfaces::msg::ParameterDescriptor::_integer_range_type int_range(
+  int start, int stop, int step)
 {
-  return { rcl_interfaces::msg::IntegerRange().set__from_value(start).set__to_value(stop).set__step(step) };
+  return {
+    rcl_interfaces::msg::IntegerRange().set__from_value(start).set__to_value(stop).set__step(step)};
 }
 
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 3046dc9c0..f51378e47 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -5,77 +5,80 @@ namespace nebula
 namespace ros
 {
 
-using namespace std::chrono_literals;
-
-HesaiDecoderWrapper::HesaiDecoderWrapper(rclcpp::Node* const parent_node,
-                                         const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                         std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
-  : status_(nebula::Status::NOT_INITIALIZED)
-  , logger_(parent_node->get_logger().get_child("HesaiDecoder"))
-  , hw_interface_(hw_interface)
-  , sensor_cfg_(config)
+using namespace std::chrono_literals;  // NOLINT(build/namespaces)
+
+HesaiDecoderWrapper::HesaiDecoderWrapper(
+  rclcpp::Node * const parent_node,
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config)
+: status_(nebula::Status::NOT_INITIALIZED),
+  logger_(parent_node->get_logger().get_child("HesaiDecoder")),
+  hw_interface_(hw_interface),
+  sensor_cfg_(config)
 {
-  if (!config)
-  {
+  if (!config) {
     throw std::runtime_error("HesaiDecoderWrapper cannot be instantiated without a valid config!");
   }
 
-  if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
-  {
-    calibration_file_path_ = parent_node->declare_parameter<std::string>("correction_file", "", param_read_write());
-  }
-  else
-  {
-    calibration_file_path_ = parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
+  if (config->sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
+    calibration_file_path_ =
+      parent_node->declare_parameter<std::string>("correction_file", "", param_read_write());
+  } else {
+    calibration_file_path_ =
+      parent_node->declare_parameter<std::string>("calibration_file", "", param_read_write());
   }
 
   auto calibration_result = GetCalibrationData(calibration_file_path_, false);
 
-  if (!calibration_result.has_value())
-  {
+  if (!calibration_result.has_value()) {
     throw std::runtime_error(
-        (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+      (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
   }
 
   calibration_cfg_ptr_ = calibration_result.value();
-  RCLCPP_INFO_STREAM(logger_, "Using calibration data from " << calibration_cfg_ptr_->calibration_file);
+  RCLCPP_INFO_STREAM(
+    logger_, "Using calibration data from " << calibration_cfg_ptr_->calibration_file);
 
   RCLCPP_INFO(logger_, "Starting Decoder");
 
   driver_ptr_ = std::make_shared<drivers::HesaiDriver>(config, calibration_cfg_ptr_);
   status_ = driver_ptr_->GetStatus();
 
-  if (Status::OK != status_)
-  {
-    throw std::runtime_error((std::stringstream() << "Error instantiating decoder: " << status_).str());
+  if (Status::OK != status_) {
+    throw std::runtime_error(
+      (std::stringstream() << "Error instantiating decoder: " << status_).str());
   }
 
   // Publish packets only if HW interface is connected
-  if (hw_interface_)
-  {
+  if (hw_interface_) {
     current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
-    packets_pub_ =
-        parent_node->create_publisher<pandar_msgs::msg::PandarScan>("pandar_packets", rclcpp::SensorDataQoS());
+    packets_pub_ = parent_node->create_publisher<pandar_msgs::msg::PandarScan>(
+      "pandar_packets", rclcpp::SensorDataQoS());
   }
 
   auto qos_profile = rmw_qos_profile_sensor_data;
-  auto pointcloud_qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+  auto pointcloud_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-  nebula_points_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
-  aw_points_base_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
-  aw_points_ex_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
+  nebula_points_pub_ =
+    parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("pandar_points", pointcloud_qos);
+  aw_points_base_pub_ =
+    parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points", pointcloud_qos);
+  aw_points_ex_pub_ =
+    parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("aw_points_ex", pointcloud_qos);
 
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
 
-  cloud_watchdog_ = std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
-    if (ok)
-      return;
-    RCLCPP_WARN_THROTTLE(logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
-  });
+  cloud_watchdog_ =
+    std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
+      if (ok) return;
+      RCLCPP_WARN_THROTTLE(
+        logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
+    });
 }
 
 void HesaiDecoderWrapper::OnConfigChange(
-    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+  const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config)
 {
   std::lock_guard lock(mtx_driver_ptr_);
   auto new_driver = std::make_shared<drivers::HesaiDriver>(new_config, calibration_cfg_ptr_);
@@ -84,7 +87,7 @@ void HesaiDecoderWrapper::OnConfigChange(
 }
 
 void HesaiDecoderWrapper::OnCalibrationChange(
-    const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase>& new_calibration)
+  const std::shared_ptr<const nebula::drivers::HesaiCalibrationConfigurationBase> & new_calibration)
 {
   std::lock_guard lock(mtx_driver_ptr_);
   auto new_driver = std::make_shared<drivers::HesaiDriver>(sensor_cfg_, new_calibration);
@@ -93,54 +96,54 @@ void HesaiDecoderWrapper::OnCalibrationChange(
   calibration_file_path_ = calibration_cfg_ptr_->calibration_file;
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiDecoderWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+rcl_interfaces::msg::SetParametersResult HesaiDecoderWrapper::OnParameterChange(
+  const std::vector<rclcpp::Parameter> & p)
 {
-  using namespace rcl_interfaces::msg;
+  using rcl_interfaces::msg::SetParametersResult;
 
   std::string calibration_path = "";
 
-  // Only one of the two parameters is defined, so not checking for sensor model explicitly here is fine
-  bool got_any = get_param(p, "calibration_file", calibration_path) | get_param(p, "correction_file", calibration_path);
-  if (!got_any)
-  {
+  // Only one of the two parameters is defined, so not checking for sensor model explicitly here is
+  // fine
+  bool got_any = get_param(p, "calibration_file", calibration_path) |
+                 get_param(p, "correction_file", calibration_path);
+  if (!got_any) {
     return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
   }
 
-  if (!std::filesystem::exists(calibration_path))
-  {
+  if (!std::filesystem::exists(calibration_path)) {
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = "The given calibration path does not exist, ignoring: '" + calibration_path + "'";
+    result.reason =
+      "The given calibration path does not exist, ignoring: '" + calibration_path + "'";
     return result;
   }
 
   auto get_calibration_result = GetCalibrationData(calibration_path, true);
-  if (!get_calibration_result.has_value())
-  {
+  if (!get_calibration_result.has_value()) {
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = (std::stringstream() << "Could not change calibration file to '" << calibration_path
-                                         << "': " << get_calibration_result.error())
-                        .str();
+    result.reason =
+      (std::stringstream() << "Could not change calibration file to '" << calibration_path
+                           << "': " << get_calibration_result.error())
+        .str();
     return result;
   }
 
   OnCalibrationChange(get_calibration_result.value());
-  RCLCPP_INFO_STREAM(logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  RCLCPP_INFO_STREAM(
+    logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
   return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
 }
 
-HesaiDecoderWrapper::get_calibration_result_t
-HesaiDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path, bool ignore_others)
+HesaiDecoderWrapper::get_calibration_result_t HesaiDecoderWrapper::GetCalibrationData(
+  const std::string & calibration_file_path, bool ignore_others)
 {
   std::shared_ptr<drivers::HesaiCalibrationConfigurationBase> calib;
 
-  if (sensor_cfg_->sensor_model == drivers::SensorModel::HESAI_PANDARAT128)
-  {
+  if (sensor_cfg_->sensor_model == drivers::SensorModel::HESAI_PANDARAT128) {
     calib = std::make_shared<drivers::HesaiCorrection>();
-  }
-  else
-  {
+  } else {
     calib = std::make_shared<drivers::HesaiCalibrationConfiguration>();
   }
 
@@ -150,69 +153,60 @@ HesaiDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path
   {
     int ext_pos = calibration_file_path.find_last_of('.');
     calibration_file_path_from_sensor = calibration_file_path.substr(0, ext_pos);
-    // TODO: if multiple different sensors of the same type are used, this will mix up their calibration data
+    // TODO(mojomex): if multiple different sensors of the same type are used, this will mix up
+    // their calibration data
     calibration_file_path_from_sensor += "_from_sensor";
-    calibration_file_path_from_sensor += calibration_file_path.substr(ext_pos, calibration_file_path.size() - ext_pos);
+    calibration_file_path_from_sensor +=
+      calibration_file_path.substr(ext_pos, calibration_file_path.size() - ext_pos);
   }
 
   // If a sensor is connected, try to download and save its calibration data
-  if (!ignore_others && hw_connected)
-  {
-    try
-    {
+  if (!ignore_others && hw_connected) {
+    try {
       auto raw_data = hw_interface_->GetLidarCalibrationBytes();
       RCLCPP_INFO(logger_, "Downloaded calibration data from sensor.");
       auto status = calib->SaveToFileFromBytes(calibration_file_path_from_sensor, raw_data);
-      if (status != Status::OK)
-      {
+      if (status != Status::OK) {
         RCLCPP_ERROR_STREAM(logger_, "Could not save calibration data: " << status);
+      } else {
+        RCLCPP_INFO_STREAM(
+          logger_, "Saved downloaded data to " << calibration_file_path_from_sensor);
       }
-      else
-      {
-        RCLCPP_INFO_STREAM(logger_, "Saved downloaded data to " << calibration_file_path_from_sensor);
-      }
-    }
-    catch (std::runtime_error& e)
-    {
+    } catch (std::runtime_error & e) {
       RCLCPP_ERROR_STREAM(logger_, "Could not download calibration data: " << e.what());
     }
   }
 
-  // If saved calibration data from a sensor exists (either just downloaded above, or previously), try to load it
-  if (!ignore_others && std::filesystem::exists(calibration_file_path_from_sensor))
-  {
+  // If saved calibration data from a sensor exists (either just downloaded above, or previously),
+  // try to load it
+  if (!ignore_others && std::filesystem::exists(calibration_file_path_from_sensor)) {
     auto status = calib->LoadFromFile(calibration_file_path_from_sensor);
-    if (status == Status::OK)
-    {
+    if (status == Status::OK) {
       calib->calibration_file = calibration_file_path_from_sensor;
       return calib;
     }
 
     RCLCPP_ERROR_STREAM(logger_, "Could not load downloaded calibration data: " << status);
-  }
-  else if (!ignore_others)
-  {
+  } else if (!ignore_others) {
     RCLCPP_ERROR(logger_, "No downloaded calibration data found.");
   }
 
-  if (!ignore_others)
-  {
+  if (!ignore_others) {
     RCLCPP_WARN(logger_, "Falling back to generic calibration file.");
   }
 
   // If downloaded data did not exist or could not be loaded, fall back to a generic file.
   // If that file does not exist either, return an error code
-  if (!std::filesystem::exists(calibration_file_path))
-  {
+  if (!std::filesystem::exists(calibration_file_path)) {
     RCLCPP_ERROR(logger_, "No calibration data found.");
     return nebula::Status(Status::INVALID_CALIBRATION_FILE);
   }
 
   // Try to load the existing fallback calibration file. Return an error if this fails
   auto status = calib->LoadFromFile(calibration_file_path);
-  if (status != Status::OK)
-  {
-    RCLCPP_ERROR_STREAM(logger_, "Could not load calibration file at '" << calibration_file_path << "'");
+  if (status != Status::OK) {
+    RCLCPP_ERROR_STREAM(
+      logger_, "Could not load calibration file at '" << calibration_file_path << "'");
     return status;
   }
 
@@ -221,14 +215,14 @@ HesaiDecoderWrapper::GetCalibrationData(const std::string& calibration_file_path
   return calib;
 }
 
-void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+void HesaiDecoderWrapper::ProcessCloudPacket(
+  std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
   // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
-  if (hw_interface_ &&
-      (packets_pub_->get_subscription_count() > 0 || packets_pub_->get_intra_process_subscription_count() > 0))
-  {
-    if (current_scan_msg_->packets.size() == 0)
-    {
+  if (
+    hw_interface_ && (packets_pub_->get_subscription_count() > 0 ||
+                      packets_pub_->get_intra_process_subscription_count() > 0)) {
+    if (current_scan_msg_->packets.size() == 0) {
       current_scan_msg_->header.stamp = packet_msg->stamp;
     }
 
@@ -247,57 +241,61 @@ void HesaiDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::N
     pointcloud = std::get<0>(pointcloud_ts);
   }
 
-  // A pointcloud is only emitted when a scan completes (e.g. 3599 packets do not emit, the 3600th emits one)
-  if (pointcloud == nullptr)
-  {
+  // A pointcloud is only emitted when a scan completes (e.g. 3599 packets do not emit, the 3600th
+  // emits one)
+  if (pointcloud == nullptr) {
     // Since this ends the function early, the `cloud_watchdog_` will not be updated.
-    // Thus, if pointclouds are not emitted for too long (e.g. when decoder settings are wrong or no packets come in),
-    // the watchdog will log a warning automatically
+    // Thus, if pointclouds are not emitted for too long (e.g. when decoder settings are wrong or no
+    // packets come in), the watchdog will log a warning automatically
     return;
-  };
+  }
 
   cloud_watchdog_->update();
 
   // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty())
-  {
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
     packets_pub_->publish(std::move(current_scan_msg_));
     current_scan_msg_ = std::make_unique<pandar_msgs::msg::PandarScan>();
   }
 
-  if (nebula_points_pub_->get_subscription_count() > 0 ||
-      nebula_points_pub_->get_intra_process_subscription_count() > 0)
-  {
+  if (
+    nebula_points_pub_->get_subscription_count() > 0 ||
+    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
     PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_);
   }
-  if (aw_points_base_pub_->get_subscription_count() > 0 ||
-      aw_points_base_pub_->get_intra_process_subscription_count() > 0)
-  {
-    const auto autoware_cloud_xyzi = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
+  if (
+    aw_points_base_pub_->get_subscription_count() > 0 ||
+    aw_points_base_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_cloud_xyzi =
+      nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud);
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_);
   }
-  if (aw_points_ex_pub_->get_subscription_count() > 0 || aw_points_ex_pub_->get_intra_process_subscription_count() > 0)
-  {
-    const auto autoware_ex_cloud =
-        nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(pointcloud, std::get<1>(pointcloud_ts));
+  if (
+    aw_points_ex_pub_->get_subscription_count() > 0 ||
+    aw_points_ex_pub_->get_intra_process_subscription_count() > 0) {
+    const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT(
+      pointcloud, std::get<1>(pointcloud_ts));
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr);
-    ros_pc_msg_ptr->header.stamp = rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
+    ros_pc_msg_ptr->header.stamp =
+      rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count());
     PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_);
   }
 }
 
-void HesaiDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-                                       const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher)
+void HesaiDecoderWrapper::PublishCloud(
+  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
 {
-  if (pointcloud->header.stamp.sec < 0)
-  {
+  if (pointcloud->header.stamp.sec < 0) {
     RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
   }
   pointcloud->header.frame_id = sensor_cfg_->frame_id;
@@ -308,12 +306,11 @@ nebula::Status HesaiDecoderWrapper::Status()
 {
   std::lock_guard lock(mtx_driver_ptr_);
 
-  if (!driver_ptr_)
-  {
+  if (!driver_ptr_) {
     return nebula::Status::NOT_INITIALIZED;
   }
 
   return driver_ptr_->GetStatus();
 }
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 6e08c0e3b..8449bdfe5 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -4,65 +4,61 @@ namespace nebula
 {
 namespace ros
 {
-HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions& options)
-  : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true))
-  , wrapper_status_(Status::NOT_INITIALIZED)
-  , sensor_cfg_ptr_(nullptr)
-  , packet_queue_(3000)
-  , hw_interface_wrapper_()
-  , hw_monitor_wrapper_()
-  , decoder_wrapper_()
+HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
+: rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
+  wrapper_status_(Status::NOT_INITIALIZED),
+  sensor_cfg_ptr_(nullptr),
+  packet_queue_(3000),
+  hw_interface_wrapper_(),
+  hw_monitor_wrapper_(),
+  decoder_wrapper_()
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   wrapper_status_ = DeclareAndGetSensorConfigParams();
 
-  if (wrapper_status_ != Status::OK)
-  {
-    throw std::runtime_error((std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+  if (wrapper_status_ != Status::OK) {
+    throw std::runtime_error(
+      (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
   }
 
   RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
 
   launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());
 
-  if (launch_hw_)
-  {
+  if (launch_hw_) {
     hw_interface_wrapper_.emplace(this, sensor_cfg_ptr_);
     hw_monitor_wrapper_.emplace(this, hw_interface_wrapper_->HwInterface(), sensor_cfg_ptr_);
   }
 
-  decoder_wrapper_.emplace(this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr,
-                           sensor_cfg_ptr_);
+  decoder_wrapper_.emplace(
+    this, hw_interface_wrapper_ ? hw_interface_wrapper_->HwInterface() : nullptr, sensor_cfg_ptr_);
 
   RCLCPP_DEBUG(get_logger(), "Starting stream");
 
   decoder_thread_ = std::thread([this]() {
-    while (true)
-    {
+    while (true) {
       decoder_wrapper_->ProcessCloudPacket(std::move(packet_queue_.pop()));
     }
   });
 
-  if (launch_hw_)
-  {
+  if (launch_hw_) {
     hw_interface_wrapper_->HwInterface()->RegisterScanCallback(
-        std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
+      std::bind(&HesaiRosWrapper::ReceiveCloudPacketCallback, this, std::placeholders::_1));
     StreamStart();
-  }
-  else
-  {
+  } else {
     packets_sub_ = create_subscription<pandar_msgs::msg::PandarScan>(
-        "pandar_packets", rclcpp::SensorDataQoS(),
-        std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
-    RCLCPP_INFO_STREAM(get_logger(),
-                       "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
+      "pandar_packets", rclcpp::SensorDataQoS(),
+      std::bind(&HesaiRosWrapper::ReceiveScanMessageCallback, this, std::placeholders::_1));
+    RCLCPP_INFO_STREAM(
+      get_logger(),
+      "Hardware connection disabled, listening for packets on " << packets_sub_->get_topic_name());
   }
 
-  // Register parameter callback after all params have been declared. Otherwise it would be called once for each
-  // declaration
-  parameter_event_cb_ =
-      add_on_set_parameters_callback(std::bind(&HesaiRosWrapper::OnParameterChange, this, std::placeholders::_1));
+  // Register parameter callback after all params have been declared. Otherwise it would be called
+  // once for each declaration
+  parameter_event_cb_ = add_on_set_parameters_callback(
+    std::bind(&HesaiRosWrapper::OnParameterChange, this, std::placeholders::_1));
 }
 
 nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
@@ -76,7 +72,8 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
   config.return_mode = drivers::ReturnModeFromStringHesai(_return_mode, config.sensor_model);
 
   config.host_ip = declare_parameter<std::string>("host_ip", "255.255.255.255", param_read_only());
-  config.sensor_ip = declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
+  config.sensor_ip =
+    declare_parameter<std::string>("sensor_ip", "192.168.1.201", param_read_only());
   config.data_port = declare_parameter<uint16_t>("data_port", 2368, param_read_only());
   config.gnss_port = declare_parameter<uint16_t>("gnss_port", 2369, param_read_only());
   config.frame_id = declare_parameter<std::string>("frame_id", "pandar", param_read_write());
@@ -96,19 +93,17 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
     uint16_t default_value;
     RCLCPP_DEBUG_STREAM(get_logger(), config.sensor_model);
-    if (config.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128)
-    {
+    if (config.sensor_model == nebula::drivers::SensorModel::HESAI_PANDARAT128) {
       descriptor.additional_constraints = "200, 400";
       descriptor.integer_range = int_range(200, 400, 200);
       default_value = 200;
-    }
-    else
-    {
+    } else {
       descriptor.additional_constraints = "300, 600, 1200";
       descriptor.integer_range = int_range(300, 1200, 300);
       default_value = 600;
     }
-    config.rotation_speed = declare_parameter<uint16_t>("rotation_speed", default_value, descriptor);
+    config.rotation_speed =
+      declare_parameter<uint16_t>("rotation_speed", default_value, descriptor);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor = param_read_write();
@@ -125,7 +120,7 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
     descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]";
     descriptor.floating_point_range = float_range(0.01, 0.5, 0.01);
     config.dual_return_distance_threshold =
-        declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
+      declare_parameter<double>("dual_return_distance_threshold", 0.1, descriptor);
   }
 
   auto _ptp_profile = declare_parameter<std::string>("ptp_profile", "", param_read_only());
@@ -134,13 +129,14 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
   auto _ptp_transport = declare_parameter<std::string>("ptp_transport_type", "", param_read_only());
   config.ptp_transport_type = drivers::PtpTransportTypeFromString(_ptp_transport);
 
-  if (config.ptp_transport_type != drivers::PtpTransportType::L2 &&
-      config.ptp_profile != drivers::PtpProfile::IEEE_1588v2 &&
-      config.ptp_profile != drivers::PtpProfile::UNKNOWN_PROFILE)
-  {
-    RCLCPP_WARN_STREAM(get_logger(), "PTP transport was set to '" << _ptp_transport << "' but PTP profile '"
-                                                                  << _ptp_profile
-                                                                  << "' only supports 'L2'. Setting it to 'L2'.");
+  if (
+    config.ptp_transport_type != drivers::PtpTransportType::L2 &&
+    config.ptp_profile != drivers::PtpProfile::IEEE_1588v2 &&
+    config.ptp_profile != drivers::PtpProfile::UNKNOWN_PROFILE) {
+    RCLCPP_WARN_STREAM(
+      get_logger(), "PTP transport was set to '" << _ptp_transport << "' but PTP profile '"
+                                                 << _ptp_profile
+                                                 << "' only supports 'L2'. Setting it to 'L2'.");
     config.ptp_transport_type = drivers::PtpTransportType::L2;
     set_parameter(rclcpp::Parameter("ptp_transport_type", "L2"));
   }
@@ -158,48 +154,43 @@ nebula::Status HesaiRosWrapper::DeclareAndGetSensorConfigParams()
   return ValidateAndSetConfig(new_cfg_ptr);
 }
 
-Status HesaiRosWrapper::ValidateAndSetConfig(std::shared_ptr<const drivers::HesaiSensorConfiguration>& new_config)
+Status HesaiRosWrapper::ValidateAndSetConfig(
+  std::shared_ptr<const drivers::HesaiSensorConfiguration> & new_config)
 {
-  if (new_config->sensor_model == nebula::drivers::SensorModel::UNKNOWN)
-  {
+  if (new_config->sensor_model == nebula::drivers::SensorModel::UNKNOWN) {
     return Status::INVALID_SENSOR_MODEL;
   }
-  if (new_config->return_mode == nebula::drivers::ReturnMode::UNKNOWN)
-  {
+  if (new_config->return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
     return Status::INVALID_ECHO_MODE;
   }
-  if (new_config->frame_id.empty())
-  {
+  if (new_config->frame_id.empty()) {
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (new_config->ptp_profile == nebula::drivers::PtpProfile::UNKNOWN_PROFILE)
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
+  if (new_config->ptp_profile == nebula::drivers::PtpProfile::UNKNOWN_PROFILE) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Profile Provided. Please use '1588v2', '802.1as' or 'automotive'");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (new_config->ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT)
-  {
-    RCLCPP_ERROR_STREAM(get_logger(),
-                        "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
-                        "using the '1588v2' PTP Profile");
+  if (new_config->ptp_transport_type == nebula::drivers::PtpTransportType::UNKNOWN_TRANSPORT) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(),
+      "Invalid PTP Transport Provided. Please use 'udp' or 'l2', 'udp' is only available when "
+      "using the '1588v2' PTP Profile");
     return Status::SENSOR_CONFIG_ERROR;
   }
-  if (new_config->ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH)
-  {
-    RCLCPP_ERROR_STREAM(get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
+  if (new_config->ptp_switch_type == nebula::drivers::PtpSwitchType::UNKNOWN_SWITCH) {
+    RCLCPP_ERROR_STREAM(
+      get_logger(), "Invalid PTP Switch Type Provided. Please use 'tsn' or 'non_tsn'");
     return Status::SENSOR_CONFIG_ERROR;
   }
 
-  if (hw_interface_wrapper_)
-  {
+  if (hw_interface_wrapper_) {
     hw_interface_wrapper_->OnConfigChange(new_config);
   }
-  if (hw_monitor_wrapper_)
-  {
+  if (hw_monitor_wrapper_) {
     hw_monitor_wrapper_->OnConfigChange(new_config);
   }
-  if (decoder_wrapper_)
-  {
+  if (decoder_wrapper_) {
     decoder_wrapper_->OnConfigChange(new_config);
   }
 
@@ -207,17 +198,17 @@ Status HesaiRosWrapper::ValidateAndSetConfig(std::shared_ptr<const drivers::Hesa
   return Status::OK;
 }
 
-void HesaiRosWrapper::ReceiveScanMessageCallback(std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
+void HesaiRosWrapper::ReceiveScanMessageCallback(
+  std::unique_ptr<pandar_msgs::msg::PandarScan> scan_msg)
 {
-  if (hw_interface_wrapper_)
-  {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 1000,
-                          "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
+  if (hw_interface_wrapper_) {
+    RCLCPP_ERROR_THROTTLE(
+      get_logger(), *get_clock(), 1000,
+      "Ignoring received PandarScan. Launch with launch_hw:=false to enable PandarScan replay.");
     return;
   }
 
-  for (auto& pkt : scan_msg->packets)
-  {
+  for (auto & pkt : scan_msg->packets) {
     auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
     nebula_pkt_ptr->stamp = pkt.stamp;
     std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
@@ -233,25 +224,23 @@ Status HesaiRosWrapper::GetStatus()
 
 Status HesaiRosWrapper::StreamStart()
 {
-  if (!hw_interface_wrapper_)
-  {
+  if (!hw_interface_wrapper_) {
     return Status::UDP_CONNECTION_ERROR;
   }
 
-  if (hw_interface_wrapper_->Status() != Status::OK)
-  {
+  if (hw_interface_wrapper_->Status() != Status::OK) {
     return hw_interface_wrapper_->Status();
   }
 
   return hw_interface_wrapper_->HwInterface()->SensorInterfaceStart();
 }
 
-rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(const std::vector<rclcpp::Parameter>& p)
+rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(
+  const std::vector<rclcpp::Parameter> & p)
 {
-  using namespace rcl_interfaces::msg;
+  using rcl_interfaces::msg::SetParametersResult;
 
-  if (p.empty())
-  {
+  if (p.empty()) {
     return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
   }
 
@@ -262,25 +251,25 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(cons
   drivers::HesaiSensorConfiguration new_cfg(*sensor_cfg_ptr_);
 
   std::string _return_mode = "";
-  bool got_any = get_param(p, "return_mode", _return_mode) | get_param(p, "frame_id", new_cfg.frame_id) |
-                 get_param(p, "scan_phase", new_cfg.scan_phase) | get_param(p, "min_range", new_cfg.min_range) |
-                 get_param(p, "max_range", new_cfg.max_range) | get_param(p, "rotation_speed", new_cfg.rotation_speed) |
-                 get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
-                 get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
-                 get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold);
-
-  // Currently, HW interface and monitor wrappers have only read-only parameters, so their update logic is not
-  // implemented
-  if (decoder_wrapper_)
-  {
+  bool got_any =
+    get_param(p, "return_mode", _return_mode) | get_param(p, "frame_id", new_cfg.frame_id) |
+    get_param(p, "scan_phase", new_cfg.scan_phase) | get_param(p, "min_range", new_cfg.min_range) |
+    get_param(p, "max_range", new_cfg.max_range) |
+    get_param(p, "rotation_speed", new_cfg.rotation_speed) |
+    get_param(p, "cloud_min_angle", new_cfg.cloud_min_angle) |
+    get_param(p, "cloud_max_angle", new_cfg.cloud_max_angle) |
+    get_param(p, "dual_return_distance_threshold", new_cfg.dual_return_distance_threshold);
+
+  // Currently, HW interface and monitor wrappers have only read-only parameters, so their update
+  // logic is not implemented
+  if (decoder_wrapper_) {
     auto result = decoder_wrapper_->OnParameterChange(p);
     if (!result.successful) {
       return result;
     }
   }
 
-  if (!got_any)
-  {
+  if (!got_any) {
     return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
   }
 
@@ -290,8 +279,7 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(cons
   auto new_cfg_ptr = std::make_shared<const nebula::drivers::HesaiSensorConfiguration>(new_cfg);
   auto status = ValidateAndSetConfig(new_cfg_ptr);
 
-  if (status != Status::OK)
-  {
+  if (status != Status::OK) {
     RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
     auto result = SetParametersResult();
     result.successful = false;
@@ -302,23 +290,22 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange(cons
   return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
 }
 
-void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t>& packet)
+void HesaiRosWrapper::ReceiveCloudPacketCallback(std::vector<uint8_t> & packet)
 {
-  if (!decoder_wrapper_ || decoder_wrapper_->Status() != Status::OK)
-  {
+  if (!decoder_wrapper_ || decoder_wrapper_->Status() != Status::OK) {
     return;
   }
 
   const auto now = std::chrono::high_resolution_clock::now();
-  const auto timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
+  const auto timestamp_ns =
+    std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
 
   auto msg_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
   msg_ptr->stamp.sec = static_cast<int>(timestamp_ns / 1'000'000'000);
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
   msg_ptr->data.swap(packet);
 
-  if (!packet_queue_.try_push(std::move(msg_ptr)))
-  {
+  if (!packet_queue_.try_push(std::move(msg_ptr))) {
     RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
 }
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
index c10319c1e..18da9da83 100644
--- a/nebula_ros/src/hesai/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -6,18 +6,21 @@ namespace ros
 {
 
 HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
-    rclcpp::Node* const parent_node, std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
-  : hw_interface_(new nebula::drivers::HesaiHwInterface())
-  , logger_(parent_node->get_logger().get_child("HwInterface"))
-  , status_(Status::NOT_INITIALIZED)
+  rclcpp::Node * const parent_node,
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config)
+: hw_interface_(new nebula::drivers::HesaiHwInterface()),
+  logger_(parent_node->get_logger().get_child("HwInterface")),
+  status_(Status::NOT_INITIALIZED)
 {
   setup_sensor_ = parent_node->declare_parameter<bool>("setup_sensor", true, param_read_only());
   bool retry_connect = parent_node->declare_parameter<bool>("retry_hw", true, param_read_only());
 
-  status_ = hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const drivers::SensorConfigurationBase>(config));
+  status_ = hw_interface_->SetSensorConfiguration(
+    std::static_pointer_cast<const drivers::SensorConfigurationBase>(config));
 
   if (status_ != Status::OK) {
-    throw std::runtime_error((std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+    throw std::runtime_error(
+      (std::stringstream{} << "Could not initialize HW interface: " << status_).str());
   }
 
   hw_interface_->SetLogger(std::make_shared<rclcpp::Logger>(parent_node->get_logger()));
@@ -25,11 +28,9 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
 
   int retry_count = 0;
 
-  while (true)
-  {
+  while (true) {
     status_ = hw_interface_->InitializeTcpDriver();
-    if (status_ == Status::OK || !retry_connect)
-    {
+    if (status_ == Status::OK || !retry_connect) {
       break;
     }
 
@@ -38,35 +39,30 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
     RCLCPP_WARN_STREAM(logger_, status_ << ". Retry #" << retry_count);
   }
 
-  if (status_ == Status::OK)
-  {
-    try
-    {
+  if (status_ == Status::OK) {
+    try {
       auto inventory = hw_interface_->GetInventory();
       RCLCPP_INFO_STREAM(logger_, inventory);
       hw_interface_->SetTargetModel(inventory.model);
-    }
-    catch (...)
-    {
+    } catch (...) {
       RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor...");
     }
-    if (setup_sensor_)
-    {
+    if (setup_sensor_) {
       hw_interface_->CheckAndSetConfig();
     }
-  }
-  else
-  {
-    RCLCPP_ERROR_STREAM(logger_, "Failed to get model from sensor... Set from config: " << config->sensor_model);
+  } else {
+    RCLCPP_ERROR_STREAM(
+      logger_, "Failed to get model from sensor... Set from config: " << config->sensor_model);
   }
 
   status_ = Status::OK;
 }
 
 void HesaiHwInterfaceWrapper::OnConfigChange(
-    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& new_config)
+  const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & new_config)
 {
-  hw_interface_->SetSensorConfiguration(std::static_pointer_cast<const nebula::drivers::SensorConfigurationBase>(new_config));
+  hw_interface_->SetSensorConfiguration(
+    std::static_pointer_cast<const nebula::drivers::SensorConfigurationBase>(new_config));
   if (setup_sensor_) {
     hw_interface_->CheckAndSetConfig();
   }
@@ -83,4 +79,4 @@ std::shared_ptr<drivers::HesaiHwInterface> HesaiHwInterfaceWrapper::HwInterface(
 }
 
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index b34e181fb..da1f78794 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -4,19 +4,19 @@ namespace nebula
 {
 namespace ros
 {
-HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(rclcpp::Node* const parent_node,
-                                             const std::shared_ptr<nebula::drivers::HesaiHwInterface>& hw_interface,
-                                             std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration>& config)
-  : logger_(parent_node->get_logger().get_child("HwMonitor"))
-  , diagnostics_updater_(parent_node)
-  , status_(Status::OK)
-  , hw_interface_(hw_interface)
-  , parent_node_(parent_node)
+HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(
+  rclcpp::Node * const parent_node,
+  const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
+  std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config)
+: logger_(parent_node->get_logger().get_child("HwMonitor")),
+  diagnostics_updater_(parent_node),
+  status_(Status::OK),
+  hw_interface_(hw_interface),
+  parent_node_(parent_node)
 {
   diag_span_ = parent_node->declare_parameter<uint16_t>("diag_span", 1000, param_read_only());
 
-  switch (config->sensor_model)
-  {
+  switch (config->sensor_model) {
     case nebula::drivers::SensorModel::HESAI_PANDARXT32:
     case nebula::drivers::SensorModel::HESAI_PANDARXT32M:
     case nebula::drivers::SensorModel::HESAI_PANDARAT128:
@@ -71,7 +71,8 @@ void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
 
   diagnostics_updater_.add("hesai_status", this, &HesaiHwMonitorWrapper::HesaiCheckStatus);
   diagnostics_updater_.add("hesai_ptp", this, &HesaiHwMonitorWrapper::HesaiCheckPtp);
-  diagnostics_updater_.add("hesai_temperature", this, &HesaiHwMonitorWrapper::HesaiCheckTemperature);
+  diagnostics_updater_.add(
+    "hesai_temperature", this, &HesaiHwMonitorWrapper::HesaiCheckTemperature);
   diagnostics_updater_.add("hesai_rpm", this, &HesaiHwMonitorWrapper::HesaiCheckRpm);
 
   current_status_.reset();
@@ -83,25 +84,19 @@ void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
 
   auto fetch_diag_from_sensor = [this]() {
     OnHesaiStatusTimer();
-    if (hw_interface_->UseHttpGetLidarMonitor())
-    {
+    if (hw_interface_->UseHttpGetLidarMonitor()) {
       OnHesaiLidarMonitorTimerHttp();
-    }
-    else
-    {
+    } else {
       OnHesaiLidarMonitorTimer();
     }
   };
 
-  fetch_diagnostics_timer_ =
-      parent_node_->create_wall_timer(std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
+  fetch_diagnostics_timer_ = parent_node_->create_wall_timer(
+    std::chrono::milliseconds(diag_span_), std::move(fetch_diag_from_sensor));
 
-  if (hw_interface_->UseHttpGetLidarMonitor())
-  {
+  if (hw_interface_->UseHttpGetLidarMonitor()) {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltageHttp);
-  }
-  else
-  {
+  } else {
     diagnostics_updater_.add("hesai_voltage", this, &HesaiHwMonitorWrapper::HesaiCheckVoltage);
   }
 
@@ -112,45 +107,37 @@ void HesaiHwMonitorWrapper::InitializeHesaiDiagnostics()
 
     RCLCPP_DEBUG_STREAM(logger_, "dif(status): " << dif);
 
-    if (diag_span_ * 2.0 < dif * 1000)
-    {
+    if (diag_span_ * 2.0 < dif * 1000) {
       current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(logger_, "STALE");
-    }
-    else
-    {
+    } else {
       current_diag_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(logger_, "OK");
     }
     dif = (now - *current_lidar_monitor_time_).seconds();
     RCLCPP_DEBUG_STREAM(logger_, "dif(monitor): " << dif);
-    if (diag_span_ * 2.0 < dif * 1000)
-    {
+    if (diag_span_ * 2.0 < dif * 1000) {
       current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::STALE;
       RCLCPP_DEBUG_STREAM(logger_, "STALE");
-    }
-    else
-    {
+    } else {
       current_monitor_status_ = diagnostic_msgs::msg::DiagnosticStatus::OK;
       RCLCPP_DEBUG_STREAM(logger_, "OK");
     }
     diagnostics_updater_.force_update();
   };
   diagnostics_update_timer_ =
-      parent_node_->create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
+    parent_node_->create_wall_timer(std::chrono::milliseconds(1000), std::move(on_timer_update));
 
   RCLCPP_DEBUG_STREAM(logger_, "add_timer");
 }
 
-std::string HesaiHwMonitorWrapper::GetPtreeValue(boost::property_tree::ptree* pt, const std::string& key)
+std::string HesaiHwMonitorWrapper::GetPtreeValue(
+  boost::property_tree::ptree * pt, const std::string & key)
 {
   boost::optional<std::string> value = pt->get_optional<std::string>(key);
-  if (value)
-  {
+  if (value) {
     return value.get();
-  }
-  else
-  {
+  } else {
     return MSG_NOT_SUPPORTED;
   }
 }
@@ -164,22 +151,19 @@ std::string HesaiHwMonitorWrapper::GetFixedPrecisionString(double val, int pre)
 void HesaiHwMonitorWrapper::OnHesaiStatusTimer()
 {
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer" << std::endl);
-  try
-  {
+  try {
     auto result = hw_interface_->GetLidarStatus();
     std::scoped_lock lock(mtx_lidar_status_);
     current_status_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
     current_status_.reset(new HesaiLidarStatus(result));
-  }
-  catch (const std::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(std::system_error)"),
-                        error.what());
-  }
-  catch (const boost::system::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
-                        error.what());
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiStatusTimer(boost::system::system_error)"),
+      error.what());
   }
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiStatusTimer END" << std::endl);
 }
@@ -187,24 +171,23 @@ void HesaiHwMonitorWrapper::OnHesaiStatusTimer()
 void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp()
 {
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp");
-  try
-  {
-    hw_interface_->GetLidarMonitorAsyncHttp([this](const std::string& str) {
+  try {
+    hw_interface_->GetLidarMonitorAsyncHttp([this](const std::string & str) {
       std::scoped_lock lock(mtx_lidar_monitor_);
       current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
-      current_lidar_monitor_tree_ = std::make_unique<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
+      current_lidar_monitor_tree_ =
+        std::make_unique<boost::property_tree::ptree>(hw_interface_->ParseJson(str));
     });
-  }
-  catch (const std::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
-                        error.what());
-  }
-  catch (const boost::system::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_"
-                                           "error)"),
-                        error.what());
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger(
+        "HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp(boost::system::system_"
+        "error)"),
+      error.what());
   }
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimerHttp END");
 }
@@ -212,52 +195,47 @@ void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimerHttp()
 void HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer()
 {
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer");
-  try
-  {
+  try {
     auto result = hw_interface_->GetLidarMonitor();
     std::scoped_lock lock(mtx_lidar_monitor_);
     current_lidar_monitor_time_.reset(new rclcpp::Time(parent_node_->get_clock()->now()));
     current_monitor_.reset(new HesaiLidarMonitor(result));
-  }
-  catch (const std::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
-                        error.what());
-  }
-  catch (const boost::system::system_error& error)
-  {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(boost::system::system_"
-                                           "error)"),
-                        error.what());
+  } catch (const std::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(std::system_error)"),
+      error.what());
+  } catch (const boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("HesaiHwMonitorWrapper::OnHesaiLidarMonitorTimer(boost::system::system_"
+                         "error)"),
+      error.what());
   }
   RCLCPP_DEBUG_STREAM(logger_, "OnHesaiLidarMonitorTimer END");
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckStatus(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckStatus(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_)
-  {
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
 
     diagnostics.add("system_uptime", std::to_string(current_status_->system_uptime.value()));
     diagnostics.add("startup_times", std::to_string(current_status_->startup_times.value()));
-    diagnostics.add("total_operation_time", std::to_string(current_status_->total_operation_time.value()));
+    diagnostics.add(
+      "total_operation_time", std::to_string(current_status_->total_operation_time.value()));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_)
-  {
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     auto gps_status = current_status_->get_str_gps_pps_lock();
@@ -269,131 +247,116 @@ void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWr
     diagnostics.add("gps_pps_lock", gps_status);
     diagnostics.add("gps_gprmc_status", gprmc_status);
     diagnostics.add("ptp_clock_status", ptp_status);
-    if (gps_status != "UNKNOWN")
-    {
+    if (gps_status != "UNKNOWN") {
       msg.emplace_back("gps_pps_lock: " + gps_status);
     }
-    if (gprmc_status != "UNKNOWN")
-    {
+    if (gprmc_status != "UNKNOWN") {
       msg.emplace_back("gprmc_status: " + gprmc_status);
     }
-    if (ptp_status != "UNKNOWN")
-    {
+    if (ptp_status != "UNKNOWN") {
       msg.emplace_back("ptp_status: " + ptp_status);
     }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN")
-    {
+    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
       level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckTemperature(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckTemperature(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_)
-  {
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    for (size_t i = 0; i < std::size(current_status_->temperature); i++)
-    {
-      diagnostics.add(temperature_names_[i],
-                      GetFixedPrecisionString(current_status_->temperature[i].value() * 0.01, 3));
+    for (size_t i = 0; i < std::size(current_status_->temperature); i++) {
+      diagnostics.add(
+        temperature_names_[i],
+        GetFixedPrecisionString(current_status_->temperature[i].value() * 0.01, 3));
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_status_);
-  if (current_status_)
-  {
+  if (current_status_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     diagnostics.add("motor_speed", std::to_string(current_status_->motor_speed.value()));
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckVoltageHttp(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckVoltageHttp(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_lidar_monitor_tree_)
-  {
+  if (current_lidar_monitor_tree_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
     std::string key = "";
 
     std::string mes;
     key = "lidarInCur";
-    try
-    {
+    try {
       mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    }
-    catch (boost::bad_lexical_cast& ex)
-    {
+    } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
       mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
     key = "lidarInVol";
-    try
-    {
+    try {
       mes = GetPtreeValue(current_lidar_monitor_tree_.get(), "Body." + key);
-    }
-    catch (boost::bad_lexical_cast& ex)
-    {
+    } catch (boost::bad_lexical_cast & ex) {
       level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
       mes = MSG_ERROR + std::string(ex.what());
     }
     diagnostics.add(key, mes);
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
-void HesaiHwMonitorWrapper::HesaiCheckVoltage(diagnostic_updater::DiagnosticStatusWrapper& diagnostics)
+void HesaiHwMonitorWrapper::HesaiCheckVoltage(
+  diagnostic_updater::DiagnosticStatusWrapper & diagnostics)
 {
   std::scoped_lock lock(mtx_lidar_monitor_);
-  if (current_monitor_)
-  {
+  if (current_monitor_) {
     uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     std::vector<std::string> msg;
-    diagnostics.add("input_voltage", GetFixedPrecisionString(current_monitor_->input_voltage.value() * 0.01, 3) + " V");
-    diagnostics.add("input_current", GetFixedPrecisionString(current_monitor_->input_current.value() * 0.01, 3) + " m"
-                                                                                                                  "A");
-    diagnostics.add("input_power", GetFixedPrecisionString(current_monitor_->input_power.value() * 0.01, 3) + " W");
+    diagnostics.add(
+      "input_voltage",
+      GetFixedPrecisionString(current_monitor_->input_voltage.value() * 0.01, 3) + " V");
+    diagnostics.add(
+      "input_current", GetFixedPrecisionString(current_monitor_->input_current.value() * 0.01, 3) +
+                         " m"
+                         "A");
+    diagnostics.add(
+      "input_power",
+      GetFixedPrecisionString(current_monitor_->input_power.value() * 0.01, 3) + " W");
 
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
-  }
-  else
-  {
+  } else {
     diagnostics.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "No data available");
   }
 }
 
 Status HesaiHwMonitorWrapper::Status()
 {
-  return Status::NOT_IMPLEMENTED;  // TODO
+  return Status::OK;
 }
 }  // namespace ros
-}  // namespace nebula
\ No newline at end of file
+}  // namespace nebula
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.cpp b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
index f65a974cc..97046e8f8 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.cpp
@@ -220,8 +220,7 @@ Status HesaiRosDecoderTest::GetParameters(
   if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) {
     return Status::INVALID_ECHO_MODE;
   }
-  if (
-    sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
+  if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) {
     return Status::SENSOR_CONFIG_ERROR;
   }
   if (calibration_configuration.calibration_file.empty()) {
@@ -274,7 +273,7 @@ void HesaiRosDecoderTest::ReadBag(
 
   storage_options.uri = params_.bag_path;
   storage_options.storage_id = params_.storage_id;
-  converter_options.output_serialization_format = params_.format;  //"cdr";
+  converter_options.output_serialization_format = params_.format;
   rclcpp::Serialization<pandar_msgs::msg::PandarScan> serialization;
 
   rosbag2_cpp::Reader bag_reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
@@ -296,7 +295,8 @@ void HesaiRosDecoderTest::ReadBag(
       auto extracted_msg_ptr = std::make_shared<pandar_msgs::msg::PandarScan>(extracted_msg);
 
       for (auto & pkt : extracted_msg_ptr->packets) {
-        auto pointcloud_ts = driver_ptr_->ParseCloudPacket(std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
+        auto pointcloud_ts = driver_ptr_->ParseCloudPacket(
+          std::vector<uint8_t>(pkt.data.begin(), std::next(pkt.data.begin(), pkt.size)));
         auto pointcloud = std::get<0>(pointcloud_ts);
         auto scan_timestamp = std::get<1>(pointcloud_ts);
 
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test.hpp b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
index 43996b9ac..f12e56020 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test.hpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test.hpp
@@ -17,6 +17,8 @@
 #include <gtest/gtest.h>
 
 #include <functional>
+#include <memory>
+#include <string>
 
 #ifndef _SRC_CALIBRATION_DIR_PATH
 #define _SRC_CALIBRATION_DIR_PATH ""
@@ -48,20 +50,22 @@ struct HesaiRosDecoderTestParams
   double dual_return_distance_threshold = 0.1;
 };
 
-inline std::ostream & operator<<(std::ostream & os, nebula::ros::HesaiRosDecoderTestParams const & arg) {
+inline std::ostream & operator<<(
+  std::ostream & os, nebula::ros::HesaiRosDecoderTestParams const & arg)
+{
   return os << "sensor_model=" << arg.sensor_model << ", "
-  << "return_mode=" << arg.return_mode << ", "
-  << "calibration_file=" << arg.calibration_file << ", "
-  << "bag_path=" << arg.bag_path << ", "
-  << "correction_file=" << arg.correction_file << ", "
-  << "frame_id=" << arg.frame_id << ", "
-  << "scan_phase=" << arg.scan_phase << ", "
-  << "min_range=" << arg.min_range << ", "
-  << "max_range=" << arg.max_range << ", "
-  << "storage_id=" << arg.storage_id << ", "
-  << "format=" << arg.format << ", "
-  << "target_topic=" << arg.target_topic << ", "
-  << "dual_return_distance_threshold=" << arg.dual_return_distance_threshold << ", ";
+            << "return_mode=" << arg.return_mode << ", "
+            << "calibration_file=" << arg.calibration_file << ", "
+            << "bag_path=" << arg.bag_path << ", "
+            << "correction_file=" << arg.correction_file << ", "
+            << "frame_id=" << arg.frame_id << ", "
+            << "scan_phase=" << arg.scan_phase << ", "
+            << "min_range=" << arg.min_range << ", "
+            << "max_range=" << arg.max_range << ", "
+            << "storage_id=" << arg.storage_id << ", "
+            << "format=" << arg.format << ", "
+            << "target_topic=" << arg.target_topic << ", "
+            << "dual_return_distance_threshold=" << arg.dual_return_distance_threshold << ", ";
 }
 
 /// @brief Testing decoder of pandar 40p (Keeps HesaiDriverRosWrapper structure as much as
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
index d6574ccd4..7f80f6f48 100644
--- a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
+++ b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -12,6 +12,8 @@
 #include <algorithm>
 #include <functional>
 #include <memory>
+#include <string>
+#include <vector>
 
 namespace nebula
 {
@@ -19,72 +21,15 @@ namespace test
 {
 
 const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[6] = {
-  {
-    "Pandar40P",
-    "Dual",
-    "Pandar40P.csv",
-    "40p/1673400149412331409",
-    "",
-    "hesai",
-    0,
-    0.3f,
-    200.f
-  },
-  {
-    "Pandar64",
-    "Dual",
-    "Pandar64.csv",
-    "64/1673403880599376836",
-    "",
-    "hesai",
-    0,
-    0.3f,
-    200.f
-  },
-  {
-    "PandarAT128",
-    "LastStrongest",
-    "PandarAT128.csv",
-    "at128/1679653308406038376",
-    "PandarAT128.dat",
-    "hesai",
-    0,
-    1.f,
-    180.f
-  },
-  {
-    "PandarQT64",
-    "Dual",
-    "PandarQT64.csv",
-    "qt64/1673401195788312575",
-    "",
-    "hesai",
-    0,
-    0.1f,
-    60.f
-  },
-  {
-    "PandarXT32",
-    "Dual",
-    "PandarXT32.csv",
-    "xt32/1673400677802009732",
-    "",
-    "hesai",
-    0,
-    0.05f,
-    120.f
-  },
-  {
-    "PandarXT32M",
-    "LastStrongest",
-    "PandarXT32M.csv",
-    "xt32m/1660893203042895158",
-    "",
-    "hesai",
-    0,
-    0.5f,
-    300.f
-  }};
+  {"Pandar40P", "Dual", "Pandar40P.csv", "40p/1673400149412331409", "", "hesai", 0, 0.3f, 200.f},
+  {"Pandar64", "Dual", "Pandar64.csv", "64/1673403880599376836", "", "hesai", 0, 0.3f, 200.f},
+  {"PandarAT128", "LastStrongest", "PandarAT128.csv", "at128/1679653308406038376",
+   "PandarAT128.dat", "hesai", 0, 1.f, 180.f},
+  {"PandarQT64", "Dual", "PandarQT64.csv", "qt64/1673401195788312575", "", "hesai", 0, 0.1f, 60.f},
+  {"PandarXT32", "Dual", "PandarXT32.csv", "xt32/1673400677802009732", "", "hesai", 0, 0.05f,
+   120.f},
+  {"PandarXT32M", "LastStrongest", "PandarXT32M.csv", "xt32m/1660893203042895158", "", "hesai", 0,
+   0.5f, 300.f}};
 
 // Compares geometrical output of decoder against pre-recorded reference pointcloud.
 TEST_P(DecoderTest, TestPcd)
diff --git a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
index b00a9433d..047b2c661 100644
--- a/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
+++ b/nebula_tests/velodyne/velodyne_ros_decoder_test_vls128.cpp
@@ -13,7 +13,9 @@
 #include <gtest/gtest.h>
 
 #include <filesystem>
+#include <memory>
 #include <regex>
+#include <string>
 
 namespace nebula
 {
@@ -57,7 +59,10 @@ Status VelodyneRosDecoderTest::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status VelodyneRosDecoderTest::GetStatus() { return wrapper_status_; }
+Status VelodyneRosDecoderTest::GetStatus()
+{
+  return wrapper_status_;
+}
 
 Status VelodyneRosDecoderTest::GetParameters(
   drivers::VelodyneSensorConfiguration & sensor_configuration,
@@ -315,10 +320,9 @@ void VelodyneRosDecoderTest::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;
   rclcpp::Serialization<velodyne_msgs::msg::VelodyneScan> serialization;
   nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud);
-  // nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud);
   pcl::PointCloud<pcl::PointXYZ>::Ptr ref_pointcloud(new pcl::PointCloud<pcl::PointXYZ>);
   {
     rosbag2_cpp::Reader bag_reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
diff --git a/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json b/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json
new file mode 100644
index 000000000..f1d45e79f
--- /dev/null
+++ b/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json
@@ -0,0 +1 @@
+{"89c3ab2f8d568f1de2f4909e98f02c8eb4aa47d7":{"files":{".pre-commit-config.yaml":["IIgVK1mNeWSqgUB4F48/2oXJV2M=",true],"nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml":["rkwp2ScCJvYSp/u0PQ8O9vqff7E=",true],".cspell.json":["qdqZpfVDIuFwYUzZ4njcRyqVt6U=",true]},"modified":1716356405626}}
\ No newline at end of file
diff --git a/scripts/plot_instrumentation.py b/scripts/plot_instrumentation.py
index fe9c12fda..7540aa35f 100755
--- a/scripts/plot_instrumentation.py
+++ b/scripts/plot_instrumentation.py
@@ -1,77 +1,79 @@
 #!/usr/bin/python3
 
 import argparse
-from matplotlib import pyplot as plt
-import numpy as np
-import pandas as pd
-import re
+from collections import defaultdict
 import json
 import os
-from collections import defaultdict
+import re
+
+from matplotlib import pyplot as plt
+import pandas as pd
+
 
 def condition_data(log_file: str):
-  with open(log_file, 'r') as f:
-    lines = f.readlines()
-    lines = [re.search(r'(\{"type":.*?"tag":.*?\})', l) for l in lines]
-    lines = [re.sub(r'([0-9])"', r'\1', l[1]) for l in lines if l]
-    lines = [json.loads(l) for l in lines if l]
+    with open(log_file, "r") as f:
+        lines = f.readlines()
+        lines = [re.search(r'(\{"type":.*?"tag":.*?\})', line) for line in lines]
+        lines = [re.sub(r'([0-9])"', r"\1", line[1]) for line in lines if line]
+        lines = [json.loads(line) for line in lines if line]
 
-    cols = defaultdict(list)
+        cols = defaultdict(list)
 
-    for record in lines:
-      for key in record.keys():
-        if key in ["tag", "type"]:
-          continue
+        for record in lines:
+            for key in record.keys():
+                if key in ["tag", "type"]:
+                    continue
 
-        colname = f"{record['type']}.{key}.{record['tag']}"
-        cols[colname] += [num for num in record[key] if num is not None]
+                colname = f"{record['type']}.{key}.{record['tag']}"
+                cols[colname] += [num for num in record[key] if num is not None]
 
-  def quantile_filter(series, quantile):
-    q = series.quantile(quantile)
-    return series[series <= q]
+    def quantile_filter(series, quantile):
+        q = series.quantile(quantile)
+        return series[series <= q]
 
-  cols = {k: pd.Series(v, name=k) / 1e3 for k, v in cols.items()}
-  cols = {k: quantile_filter(v, .999) for k, v in cols.items()}
+    cols = {k: pd.Series(v, name=k) / 1e3 for k, v in cols.items()}
+    cols = {k: quantile_filter(v, 0.999) for k, v in cols.items()}
 
-  for v in cols.values():
-    v: pd.Series
-    v.attrs['file'] = os.path.basename(os.path.splitext(log_file)[0])
+    for v in cols.values():
+        v: pd.Series
+        v.attrs["file"] = os.path.basename(os.path.splitext(log_file)[0])
 
-  return cols
+    return cols
 
-def plot(conditioned_logs):
 
-  conditioned_logs = {k: [dic[k] for dic in conditioned_logs] for k in conditioned_logs[0]}
+def plot(conditioned_logs):
 
-  fig, axs = plt.subplots(1, len(conditioned_logs), figsize=(15, 8), dpi=120)
+    conditioned_logs = {k: [dic[k] for dic in conditioned_logs] for k in conditioned_logs[0]}
 
-  handles, labels = [], []
+    fig, axs = plt.subplots(1, len(conditioned_logs), figsize=(15, 8), dpi=120)
 
-  for i, k in enumerate(sorted(conditioned_logs.keys())):
-    k: str
-    v = conditioned_logs[k]
-    ax: plt.Axes = axs[i]
-    art = ax.boxplot(v)
-    handles.append(art)
-    labels.append(k)
-    ax.set_ylabel("dt [µs]")
-    ax.set_title(k.replace(".", "\n"))
-    ax.set_xticks([1 + i for i in range(len(v))], [ser.attrs['file'] for ser in v])
-    ax.tick_params(axis='x', labelrotation=90)
+    handles, labels = [], []
 
+    for i, k in enumerate(sorted(conditioned_logs.keys())):
+        k: str
+        v = conditioned_logs[k]
+        ax: plt.Axes = axs[i]
+        art = ax.boxplot(v)
+        handles.append(art)
+        labels.append(k)
+        ax.set_ylabel("dt [µs]")
+        ax.set_title(k.replace(".", "\n"))
+        ax.set_xticks([1 + i for i in range(len(v))], [ser.attrs["file"] for ser in v])
+        ax.tick_params(axis="x", labelrotation=90)
 
+    fig.tight_layout()
+    plt.savefig("instrumentation.png")
+    plt.show()
 
-  fig.tight_layout()
-  plt.savefig("instrumentation.png")
-  plt.show()
 
 def main(args):
-   conditioned_logs = [condition_data(f) for f in args.log_files]
-   plot(conditioned_logs)
-  
+    conditioned_logs = [condition_data(f) for f in args.log_files]
+    plot(conditioned_logs)
+
+
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("log_files", nargs="+")
-  args = parser.parse_args()
+    parser = argparse.ArgumentParser()
+    parser.add_argument("log_files", nargs="+")
+    args = parser.parse_args()
 
-  main(args)
\ No newline at end of file
+    main(args)
diff --git a/scripts/plot_times.py b/scripts/plot_times.py
index 3cbf93f61..07dbee302 100644
--- a/scripts/plot_times.py
+++ b/scripts/plot_times.py
@@ -1,11 +1,13 @@
-#%%
+# %%
 
+import argparse
+import glob
 import os
-import pandas as pd
 import re
-import glob
-import argparse
+
 from matplotlib import pyplot as plt
+import pandas as pd
+
 
 def parse_logs(run_name):
     dfs = []
@@ -15,21 +17,20 @@ def parse_logs(run_name):
         with open(path) as f:
             lines = f.readlines()
             lines = filter(lambda line: "PROFILING" in line, lines)
-            lines = [re.sub(r'.*PROFILING (\{.*?\}).*', r'\1', line) for line in lines]
+            lines = [re.sub(r".*PROFILING (\{.*?\}).*", r"\1", line) for line in lines]
             records = [eval(line) for line in lines]
 
         dfs.append(pd.DataFrame(records))
 
     df = pd.concat(dfs)
-    
+
     for col in [c for c in df.columns if c.startswith("d_")]:
         df[col] /= 1e6  # ns to ms
     return df
 
+
 def plot_timing_comparison(run_names):
-    scenario_dfs = {
-        run_name: parse_logs(run_name) for run_name in run_names
-    }
+    scenario_dfs = {run_name: parse_logs(run_name) for run_name in run_names}
 
     n_cols = sum(1 for c in next(iter(scenario_dfs.values())).columns if c.startswith("d_"))
 
@@ -44,14 +45,16 @@ def plot_timing_comparison(run_names):
 
         # ax_d.plot(durations.index, durations, label=label, linestyle='', marker='.')
         for col in filter(lambda col: col.startswith("n_"), df.columns):
-            ax_n.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.', color='black')
+            ax_n.plot(
+                df.index, df[col], label=f"{label}::{col}", linestyle="", marker=".", color="black"
+            )
         for col in filter(lambda col: col.startswith("d_"), df.columns):
-            ax_d.plot(df.index, df[col], label=f"{label}::{col}", linestyle='', marker='.')
-        
+            ax_d.plot(df.index, df[col], label=f"{label}::{col}", linestyle="", marker=".")
+
         d_columns = [col for col in df.columns if col.startswith("d_")]
         n_cols = len(d_columns)
         for j, col in enumerate(d_columns):
-            if (i == 0):
+            if i == 0:
                 boxes[j].set_ylabel(f"{col} (ms)")
             boxes[j].boxplot(df[col], positions=[i], labels=[label])
 
@@ -59,13 +62,11 @@ def plot_timing_comparison(run_names):
         ax_d.set_ylabel("time (ms)")
         ax_d.set_xlabel("iteration")
 
-    df_means = pd.DataFrame({
-        label: df.describe().loc["mean"] for label, df in scenario_dfs.items()
-    })
+    df_means = pd.DataFrame(
+        {label: df.describe().loc["mean"] for label, df in scenario_dfs.items()}
+    )
 
-    df_stds = pd.DataFrame({
-        label: df.describe().loc["std"] for label, df in scenario_dfs.items()
-    })
+    df_stds = pd.DataFrame({label: df.describe().loc["std"] for label, df in scenario_dfs.items()})
 
     df_means = df_means.rename(index=lambda label: f"{label} AVG")
     df_stds = df_stds.rename(index=lambda label: f"{label} STD")
@@ -75,15 +76,23 @@ def plot_timing_comparison(run_names):
     baseline_name = run_names[0]
     df_base = df_stat[baseline_name]
     for label in df_base.index:
-        df_stat.loc[f"{label} % rel to {baseline_name}", :] = df_stat.loc[label, :] / df_base.loc[label] * 100
+        df_stat.loc[f"{label} % rel to {baseline_name}", :] = (
+            df_stat.loc[label, :] / df_base.loc[label] * 100
+        )
 
     print(df_stat.to_markdown())
     plt.show()
+
+
 # %%
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
-    parser.add_argument("run_names", nargs='+', help="The names of the runs to plot, as entered in test_runner.bash (e.g. 'baseline', 'optimized')\nAll files of the form <run-name>-[0-9].log will be plotted.")
+    parser.add_argument(
+        "run_names",
+        nargs="+",
+        help="The names of the runs to plot, as entered in test_runner.bash (e.g. 'baseline', 'optimized')\nAll files of the form <run-name>-[0-9].log will be plotted.",
+    )
     args = parser.parse_args()
 
-    plot_timing_comparison(args.run_names)
\ No newline at end of file
+    plot_timing_comparison(args.run_names)

From 13a538e7e251f6df5a0b25bef3c463fb95db4d18 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 15:07:30 +0900
Subject: [PATCH 119/122] fix(expected.hpp): revert explicit constructors

---
 nebula_common/include/nebula_common/util/expected.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index 2a59122f5..25cb5f83d 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -83,9 +83,9 @@ struct expected
     return default_;
   }
 
-  explicit expected(const T & value) { value_ = value; }
+  expected(const T & value) { value_ = value; }  // NOLINT(runtime/explicit)
 
-  explicit expected(const E & error) { value_ = error; }
+  expected(const E & error) { value_ = error; }  // NOLINT(runtime/explicit)
 
 private:
   std::variant<T, E> value_;

From 8f01847055c1f58cec5230d082e3a913eb6dffc1 Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 15:07:48 +0900
Subject: [PATCH 120/122] chore: remove erroneously added node_modules folder

---
 .../71fcc0c413aef9f44cc34d45933658dcd90140bf.json                | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json

diff --git a/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json b/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json
deleted file mode 100644
index f1d45e79f..000000000
--- a/node_modules/.cache/prettier/.prettier-caches/71fcc0c413aef9f44cc34d45933658dcd90140bf.json
+++ /dev/null
@@ -1 +0,0 @@
-{"89c3ab2f8d568f1de2f4909e98f02c8eb4aa47d7":{"files":{".pre-commit-config.yaml":["IIgVK1mNeWSqgUB4F48/2oXJV2M=",true],"nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml":["rkwp2ScCJvYSp/u0PQ8O9vqff7E=",true],".cspell.json":["qdqZpfVDIuFwYUzZ4njcRyqVt6U=",true]},"modified":1716356405626}}
\ No newline at end of file

From 1f00fa6f4e8e2389510d9fee3d9a762de4f47e8b Mon Sep 17 00:00:00 2001
From: Max SCHMELLER <max.schmeller@tier4.jp>
Date: Wed, 22 May 2024 15:08:07 +0900
Subject: [PATCH 121/122] chore(gitconfig): exclude node_modules from git

---
 .gitignore | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.gitignore b/.gitignore
index e966ffdfb..f068ec8be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,3 +29,6 @@ site/
 
 # qcreator stuff
 CMakeLists.txt.user
+
+# pre-commit
+node_modules/

From 0dc2cb591c603b4050ed2a6fee41314190369c9d Mon Sep 17 00:00:00 2001
From: amadeuszsz <amadeusz.szymko.2@tier4.jp>
Date: Wed, 22 May 2024 16:10:46 +0900
Subject: [PATCH 122/122] fix(nebula_tests): missing serialization format

Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp>
---
 .../vls128/1614315746471294674/metadata.yaml       | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml b/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
index 81489216f..87ad88ce1 100644
--- a/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
+++ b/nebula_tests/data/velodyne/vls128/1614315746471294674/metadata.yaml
@@ -2,15 +2,15 @@ rosbag2_bagfile_information:
   version: 5
   storage_identifier: sqlite3
   duration:
-    nanoseconds: 263164997
+    nanoseconds: 277624032
   starting_time:
-    nanoseconds_since_epoch: 1585897255313147068
+    nanoseconds_since_epoch: 1614315746471294674
   message_count: 4
   topics_with_message_count:
     - topic_metadata:
-        name: /velodyne_packets
+        name: /sensing/lidar/top/velodyne_packets
         type: velodyne_msgs/msg/VelodyneScan
-        serialization_format: ""
+        serialization_format: cdr
         offered_qos_profiles: ""
       message_count: 4
   compression_format: ""
@@ -20,7 +20,7 @@ rosbag2_bagfile_information:
   files:
     - path: 1614315746471294674_0.db3
       starting_time:
-        nanoseconds_since_epoch: 1585897255313147068
+        nanoseconds_since_epoch: 1614315746471294674
       duration:
-        nanoseconds: 263164997
-      message_count: 4
\ No newline at end of file
+        nanoseconds: 277624032
+      message_count: 4