feat: conformed srr520 to the standard launchers and updated document…

…ation

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

README.md

@@ -99,6 +99,7 @@ Supported models, where sensor_model is the ROS param to be used at launch:
 | Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning:            |
 | Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning:            |
 | Continental  | ARS548        | ARS548       | ARS548.yaml        | :warning:            |
+| Continental  | SRR520        | SRR520       | SRR520.yaml        | :warning:            |
 
 Test status:\
 :heavy_check_mark:: complete\

nebula_ros/config/continental/SRR520.yaml

@@ -12,3 +12,4 @@
     new_plug_bottom: true
     new_cover_damping: 0.0
     reset_sensor_configuration: false
+    configuration_vehicle_wheelbase: 2.79

nebula_ros/launch/continental_launch_all_hw.xml

@@ -71,8 +71,6 @@
             <param name="configuration_vehicle_width" value="$(var configuration_vehicle_width)"/>
             <param name="configuration_vehicle_height" value="$(var configuration_vehicle_height)"/>
             <param name="configuration_vehicle_wheelbase" value="$(var configuration_vehicle_wheelbase)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 
@@ -112,8 +110,6 @@
             <param name="configuration_host_port" value="$(var configuration_host_port)"/>
             <param name="configuration_sensor_port" value="$(var configuration_sensor_port)"/>
             <param name="use_sensor_time" value="$(var use_sensor_time)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 
@@ -150,8 +146,6 @@
             <param name="filters" value="$(var filters)"/>
             <param name="use_bus_time" value="$(var use_bus_time)"/>
             <param name="configuration_vehicle_wheelbase" value="$(var configuration_vehicle_wheelbase)"/>
-
-            <param name="use_sim_time" value="false"/>
         </node>
     </group>
 </launch>

nebula_ros/launch/nebula_launch.py

@@ -22,17 +22,15 @@ def get_sensor_make(sensor_name):
         return "Velodyne", ".yaml"
     elif sensor_name.lower() in ["helios", "bpearl"]:
         return "Robosense", None
-    elif sensor_name.lower() == "ars548":
+    elif sensor_name.lower() in ["ars548", "srr520"]:
         return "Continental", None
     return "unrecognized_sensor_model", None
 
 def get_plugin_name(sensor_make, sensor_model):
     if sensor_make.lower() != "continental":
         return sensor_make
-    elif sensor_model.lower() == "ars548":
-        return "ContinentalARS548"
     else:
-        return "invalid_plugin"
+        return sensor_make + sensor_model
 
 def is_hw_monitor_available(sensor_make):
     return sensor_make.lower() != "continental"