added custom time offset paramter (time stamp)

.github/actions/aws-mfa-login/action.yml

@@ -0,0 +1,49 @@
+name: aws-mfa-login
+author: [email protected]
+description: mfa login for aws
+
+inputs:
+  access_key_id: 
+    description: 'AWS access key id'
+    required: true
+  secret_access_key:
+    description: 'AWS access secret key'
+    required: true
+  mfa_key:
+    description: 'MFA Key'
+    required: true
+  mfa_arn:
+    description: 'MFA arn'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - run: sudo apt install awscli -y
+      shell: bash
+
+    - run: sudo -S -k apt-get install -y oathtool jq
+      shell: bash
+
+    - uses: aws-actions/configure-aws-credentials@v1
+      with:
+        aws-access-key-id: ${{ inputs.access_key_id }}
+        aws-secret-access-key: ${{ inputs.secret_access_key }}
+        aws-region: ap-northeast-2
+
+    - run: |
+        token=$(oathtool -b --totp ${{ inputs.mfa_key }})
+        aws sts get-session-token --duration-seconds 36000 --serial-number ${{ inputs.mfa_arn }} --token-code $token  > mfa-temp.json
+        accessKeyId=$(cat mfa-temp.json | jq -r .Credentials.AccessKeyId)
+        secretAccessKey=$(cat mfa-temp.json | jq -r .Credentials.SecretAccessKey)
+        sessionToken=$(cat mfa-temp.json | jq -r .Credentials.SessionToken)
+        echo ${accessKeyId}
+        echo ${secretAccessKey}
+        echo ${sessionToken}
+        aws configure set aws_access_key_id $accessKeyId
+        aws configure set aws_secret_access_key $secretAccessKey
+        aws configure set aws_session_token $sessionToken
+        aws configure set region ap-northeast-2
+      shell: bash
+    - run: aws sts get-caller-identity
+      shell: bash

.github/actions/floatic-ppa-access/action.yml

@@ -0,0 +1,31 @@
+name: floatic-ppa-access
+author: [email protected]
+description: ppa server inbound setting
+
+inputs:
+  target_group_name:
+    description: "aws ec2 scurity group name"
+    required: true
+
+  protocol:
+    description: "inbound protocol"
+    required: true
+    default: tcp
+
+  port:
+    description: "inbound port"
+    required: true
+    default: 443
+
+runs:
+  using: "composite"
+  steps:
+    - id: get_public_ip
+      uses: haythem/[email protected]
+
+    - run: aws ec2 authorize-security-group-ingress --group-name ${{ inputs.target_group_name }} --protocol ${{ inputs.protocol }} --port ${{ inputs.port }} --cidr ${{ steps.get_public_ip.outputs.ipv4 }}/32
+      shell: bash
+
+    - uses: webiny/[email protected]
+      with:
+        run: aws ec2 revoke-security-group-ingress --group-name ${{ inputs.target_group_name }} --protocol ${{ inputs.protocol }} --port ${{ inputs.port }} --cidr ${{ steps.get_public_ip.outputs.ipv4 }}/32

.github/workflows/cd.yml

@@ -0,0 +1,76 @@
+name: CD
+on:
+  push:
+    tags:
+      - v*
+
+jobs:
+  ecr_setting:
+    # if: contains(github.event.comment.html_url, '/pull/') && contains(github.event.comment.body, '/deploy')
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: AWS Mfa login
+        uses: ./.github/actions/aws-mfa-login
+        with:
+          access_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          mfa_key: ${{ secrets.MFA_KEY }}
+          mfa_arn: ${{ secrets.MFA_ARN }}
+
+      - id: get_ecr_password
+        name: Get ECR password
+        run: |
+          PROIFLE_REGION=$(aws configure get region)
+          ECR_PASSWORD=$(aws ecr get-login-password --region $PROIFLE_REGION)
+          echo "ECR_PASSWORD=$ECR_PASSWORD" >> $GITHUB_OUTPUT
+    outputs:
+      ecr_password: ${{ steps.get_ecr_password.outputs.ECR_PASSWORD }}
+
+  debian_build:
+    needs: ecr_setting
+    runs-on: ubuntu-latest
+    container:
+      image: 557571393534.dkr.ecr.ap-northeast-2.amazonaws.com/floom
+      credentials:
+        username: AWS
+        password: ${{ needs.ecr_setting.outputs.ecr_password }}
+    steps:
+      - name: Update dist
+        run: sudo apt update
+
+      - uses: actions/checkout@v3
+        with:
+          path: 'flody_ws/etc/'
+
+      - name: AWS Mfa login
+        uses: ./flody_ws/etc/.github/actions/aws-mfa-login
+        with:
+          access_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          mfa_key: ${{ secrets.MFA_KEY }}
+          mfa_arn: ${{ secrets.MFA_ARN }}
+
+      - name: PPA server access
+        uses: ./flody_ws/etc/.github/actions/floatic-ppa-access
+        with:
+          target_group_name: ${{ secrets.SECURITY_GROUP_NAME }}
+
+      - name: Checkout submodules
+        run: |
+          cd flody_ws/etc
+          git submodule update --init --recursive
+
+      - name: Generate debian file
+        run: |
+          source /opt/floatic/debian/ros/humble/setup.bash
+          cd flody_ws/etc
+          floom-generate rosdebian
+          ls ../*.deb
+        shell: bash
+
+      - name: Upload to S3
+        run: |
+          aws s3 cp $(ls flody_ws/*.deb) s3://robotics-workflow-archive/sick_scan2/

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${workspaceFolder}/include/**",
+                "/opt/ros/humble/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

driver/src/sick_generic_caller.cpp

@@ -198,6 +198,7 @@ int main(int argc, char **argv)
   int skip=0;
   bool sw_pll_only_publish=true;
   bool intensity=true;
+  double time_offset = 0.0;
 
   // Declare default parameters
   node->declare_parameter<std::string>("frame_id", "world");
@@ -214,6 +215,7 @@ int main(int argc, char **argv)
   node->declare_parameter<bool>("use_software_pll", use_software_pll);
   node->declare_parameter<bool>("sw_pll_only_publish", sw_pll_only_publish);
   node->declare_parameter<bool>("intensity",intensity);
+  node->declare_parameter<double>("time_offset",intensity);
 
 #if 0
   //handling if params had been defined before

driver/src/sick_scan_common.cpp

@@ -395,6 +395,7 @@ namespace sick_scan
       node->get_parameter("use_software_pll", cfg.use_software_pll);
       node->get_parameter("sw_pll_only_publish",cfg.sw_pll_only_publish);
       node->get_parameter("intensity",cfg.intensity);
+      node->get_parameter("time_offset",cfg.time_offset);
       update_config(cfg);
     }
 #if 0
@@ -2397,6 +2398,7 @@ namespace sick_scan
 
                 bRet = SoftwarePLL::instance().getCorrectedTimeStamp(&recvTimeStamp,
                                                                      SystemCountScan);
+                recvTimeStamp = rclcpp::Time(recvTimeStamp) + rclcpp::Duration::from_nanoseconds(this->config_.time_offset);
                 double timestampfloat_coor = recvTimeStamp.sec + recvTimeStamp.nanosec * 1e-9;
                 double DeltaTime = timestampfloat - timestampfloat_coor;
                 //ROS_INFO("%F,%F,%u,%u,%F",timestampfloat,timestampfloat_coor,SystemCountTransmit,SystemCountScan,DeltaTime);
@@ -2970,9 +2972,16 @@ namespace sick_scan
               if (sendMsg & outputChannelFlagId)  // publish only configured channels - workaround for cfg-bug MRS1104
               {
                 msg.header.stamp = recvTimeStamp;
-
+                // RCLCPP_INFO(getMainNode()->get_logger(), "time_offset : %f", config_.time_offset);
                 //msg.range_min = 0.0f;
                 //msg.range_max = 100.0f;
+                for (auto & d : msg.ranges){
+                  if(d > msg.range_max || d <= 0.0001){
+                    d = std::numeric_limits<float>::infinity();
+                  } else if(d <= msg.range_min){
+                    d = msg.range_min;
+                  }
+                }
                 pub_->publish(msg);
               }
 #else

include/sick_scan/SickScanConfig.h

@@ -25,7 +25,7 @@ namespace sick_scan
       int skip;
       bool use_software_pll;
       bool sw_pll_only_publish;
-
+      double time_offset;
   };
 }