chore: update lidar driver (#122)

- feat: support lidar of brand seyond
- chore: remove deprecated driver of robosense
- perf: optimize object pool and support filter and parallel
- fix: stop driver/sub-threads at destructing

Signed-off-by: Pride Leong <[email protected]>

Author: lykling

MODULE.bazel

@@ -81,3 +81,4 @@ bazel_dep(name = "yaml-cpp", version = "0.8.0", repo_name = "com_github_jbeder_y
 bazel_dep(name = "portaudio", version = "19.7.0.bcr.3")
 bazel_dep(name = "pcl", version = "1.15.0.bcr.2", repo_name = "local_config_pcl")
 bazel_dep(name = "sse2neon", version = "1.8.0")
+bazel_dep(name = "inno-lidar-sdk", version = "3.103.4")

modules/drivers/lidar/BUILD

@@ -1,24 +1,23 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
-load("//tools/install:install.bzl", "install")
 load("//tools:cpplint.bzl", "cpplint")
+load("//tools/install:install.bzl", "install")
 
 package(default_visibility = ["//visibility:public"])
 
 install(
     name = "install",
-    data_dest = "drivers/addition_data/lidar",
-    library_dest = "drivers/lib/lidar",
     data = [
         ":runtime_data",
     ],
+    data_dest = "drivers/addition_data/lidar",
+    library_dest = "drivers/lib/lidar",
     targets = [
         "liblidar_driver_component.so",
     ],
     deps = [
         "//modules/drivers/lidar/hesai:install",
-        "//modules/drivers/lidar/robosense:install",
         "//modules/drivers/lidar/velodyne:install",
-    ]
+    ],
 )
 
 filegroup(
@@ -35,12 +34,12 @@ cc_library(
     name = "lidar_driver_component_lib",
     srcs = ["lidar_driver_component.cc"],
     hdrs = ["lidar_driver_component.h"],
-    alwayslink = True,
     deps = [
         "//cyber",
         "//modules/drivers/lidar/common/driver_factory:lidar_driver_factory",
         "//modules/drivers/lidar/proto:config_cc_proto",
     ],
+    alwayslink = True,
 )
 
 cc_binary(

modules/drivers/lidar/common/driver_factory/BUILD

@@ -14,7 +14,6 @@ cc_library(
         "//modules/drivers/lidar/hesai/driver",
         "//modules/drivers/lidar/proto:config_cc_proto",
         "//modules/drivers/lidar/proto:lidar_parameter_cc_proto",
-        # "//modules/drivers/lidar/robosense/driver",
         "//modules/drivers/lidar/velodyne/driver",
     ],
 )

modules/drivers/lidar/common/driver_factory/lidar_driver_factory.cc

@@ -17,7 +17,6 @@
 #include "modules/drivers/lidar/common/driver_factory/lidar_driver_factory.h"
 
 #include "modules/drivers/lidar/hesai/driver/driver.h"
-// #include "modules/drivers/lidar/robosense/driver/driver.h"
 #include "modules/drivers/lidar/velodyne/driver/driver.h"
 
 namespace apollo {
@@ -33,13 +32,6 @@ void LidarDriverFactory::RegisterLidarClients() {
               const apollo::drivers::lidar::config& config) -> LidarDriver* {
              return new hesai::HesaiDriver(node, config);
            });
-  //  Register(LidarParameter::ROBOSENSE,
-  //           [](const std::shared_ptr<::apollo::cyber::Node>& node,
-  //              const apollo::drivers::lidar::config& config) -> LidarDriver*
-  //              {
-  //             return new robosense::RobosenseDriver(node, config);
-  //           });
-  //
   Register(LidarParameter::VELODYNE,
            [](const std::shared_ptr<::apollo::cyber::Node>& node,
               const apollo::drivers::lidar::config& config) -> LidarDriver* {

modules/drivers/lidar/conf/lidar_config.pb.txt

@@ -30,19 +30,3 @@ hesai {
   frame_id: "hesai64"
   scan_channel: "/apollo/sensor/hesai64/Scan"
 }
-robosense {
-model: "RS32"
-frame_id: "rslidar_32"
-ip: "192.168.1.200"
-msop_port: 6699
-difop_port: 7788
-echo_mode: 1
-start_angle: 0
-end_angle: 360
-min_distance: 0
-max_distance: 200
-cut_angle: 0
-pointcloud_channel: "/apollo/sensor/rs32/PointCloud2"
-scan_channel: "/apollo/sensor/rs32/Scan"
-use_lidar_clock: false
-}