Changelog for package nebula_hesai_hw_interfaces

1.2.0 (2026-07-30)

• fix(nebula_hesai): remove throwaway thread+join in check_and_set_config (#463) The sensor setup path wrapped each blocking PTC command in a std::thread that was joined immediately. This added no concurrency, but it did change error semantics: an exception escaping a std::thread's entry function calls std::terminate() instead of propagating to the joining thread. So any recoverable comms fault during setup (e.g. get_lidar_range() returning "PTC Error: Timeout;" via value_or_throw) aborted the whole component container rather than being catchable by the caller. Inline all eight thread+join constructs so these exceptions propagate normally and can be handled by the caller. std::this_thread::sleep_for usage (and the <thread> include) is retained. Also drop two now-stale "waiting for thread"/"thread finished" debug logs. Pure refactor: no behavioral change on the success path. A follow-up will add try/catch + retry around check_and_set_config() so a transient setup timeout is non-fatal. Co-authored-by: Claude Opus 4.8 (1M context) <<noreply@anthropic.com>>

• chore: sync files (#74)

  • chore: sync files

  * style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(nebula_core, nebula_hesai): register hesai LiDAR packet threads with cie_thread_configurator (#460)

  • feat(nebula_core, nebula_hesai): register hesai LiDAR packet threads with cie_thread_configurator
  • fix: address review findings
  • add UdpSocket thread_factory unit test (TestThreadFactoryCreatesReceiverThread)
  • assert factory-created threads are joinable in UdpSocket and SingleConsumerProcessor
  • document the nullptr fallback behavior in the thread_factory param docs

  * refactor: document factory re-invocation on relaunch instead of testing it The subscribed-move path that re-invokes the thread factory is not exercised by any production code (all vendors subscribe only after the socket is emplaced), so pin it in the thread_factory_t docs rather than in the unit test. The test now covers only the factory-creates-thread contract.

  * fix: validate factory-created threads at runtime instead of assert Asserts are compiled out in release builds, so a factory returning a non-joinable thread would leave the processor or socket silently dead. SingleConsumerProcessor now throws std::invalid_argument (consistent with its other constructor validations); UdpSocket rolls back running_ and throws UsageError so the socket stays in a consistent unsubscribed state.

  * refactor: create all thread factories in the ROS wrapper layer Address review feedback: nebula_hesai_hw_interfaces must stay middleware-independent, including its build scripts. The Agnocast dependency and the USE_AGNOCAST_ENABLED conditional are now confined to the nebula_hesai ROS wrapper package:

  - Add a private cie_thread_factory.hpp helper in nebula_hesai that builds the Agnocast CIE thread factory (or nullptr when disabled).

  - Inject the UDP receive thread factory into HesaiHwInterface via a new optional constructor parameter instead of constructing it inside the HW interface.

  - Remove the Agnocast include, ifdef, CMake, and package.xml entries from nebula_hesai_hw_interfaces.

  • refactor: add StdThreadFactory to nebula_core_common and ban null thread factories

  - absorb thread_factory_t into nebula_core_common/util/thread_factory.hpp and default UdpSocket::subscribe() / SingleConsumerProcessor to StdThreadFactory instead of branching on nullptr internally

  - move the CIE thread factory helper from nebula_hesai to nebula_core_ros and return StdThreadFactory when Agnocast support is disabled

  • replace the fixed sleep in the UDP factory test with promise/future

  - add a test that the stored factory persists across unsubscribe, re-subscribe and move ---------

• Contributors: Max Schmeller, atsushi yano, tier4-nebula-app[bot]

1.1.1 (2026-06-03)

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