From d5061cd580c7baed5dad465c4b6eaa9a36c3292d Mon Sep 17 00:00:00 2001
From: Felix F Xu <84662027+felixf4xu@users.noreply.github.com>
Date: Mon, 5 Feb 2024 12:14:57 +0800
Subject: [PATCH 1/2] build: make #include <angles/angles.h> internal to cpp
 file (#117)

---
 nebula_decoders/CMakeLists.txt                              | 1 +
 .../decoders/velodyne_scan_decoder.hpp                      | 6 ------
 .../src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp | 2 ++
 .../src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp | 2 ++
 .../nebula_decoders_velodyne/decoders/vls128_decoder.cpp    | 2 ++
 5 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
index 6f38b97af..d08b16d6a 100644
--- a/nebula_decoders/CMakeLists.txt
+++ b/nebula_decoders/CMakeLists.txt
@@ -14,6 +14,7 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
 endif ()
 
+find_package(angles REQUIRED)
 find_package(PCL REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(yaml-cpp REQUIRED)
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 50937e66f..7c319e0fe 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
@@ -12,12 +12,6 @@
 #include <string>
 #include <vector>
 
-#if defined(ROS_DISTRO_FOXY) || defined(ROS_DISTRO_GALACTIC)
-#include <angles/angles.h>  //Galactic
-#else
-#include <angles/angles/angles.h>  //Humble
-#endif
-
 #include "nebula_common/point_types.hpp"
 #include "nebula_common/velodyne/velodyne_calibration_decoder.hpp"
 #include "nebula_common/velodyne/velodyne_common.hpp"
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 e1e9062f0..338163d60 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers
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 25feaf8f7..ec3e06745 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers
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 23442a6f3..c42f9b0b5 100644
--- a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+++ b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -3,6 +3,8 @@
 #include <cmath>
 #include <utility>
 
+#include <angles/angles.h> 
+
 namespace nebula
 {
 namespace drivers

From 76526caf873028c90f64179f4aea0d756a9572f4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?=
 <mehmeteminbasoglu@hotmail.com>
Date: Mon, 5 Feb 2024 12:04:23 +0300
Subject: [PATCH 2/2] fix(nebula_ros): remove calibration file argument from
 robosense launch (#116)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Mehmet Emin BAŞOĞLU <mehmeteminbasoglu@hotmail.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
---
 nebula_ros/launch/robosense_launch.all_hw.xml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/nebula_ros/launch/robosense_launch.all_hw.xml b/nebula_ros/launch/robosense_launch.all_hw.xml
index 8a3f73037..6e2ab6dda 100644
--- a/nebula_ros/launch/robosense_launch.all_hw.xml
+++ b/nebula_ros/launch/robosense_launch.all_hw.xml
@@ -5,8 +5,6 @@
     <arg name="frame_id" default="robosense"/>
     <arg name="scan_phase" default="0.0"/>
 
-    <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/robosense/Helios5515.csv"/>
-
     <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"/>