fix(hesai): set PTP lock offset on sensor configuration

[mojomex]

PR Type

• Improvement
• Bug Fix

Related Links

• TIER IV INTERNAL LINK - corresponding sensing inquiry

Description

This PR adds support for the SET_PTP_LOCK_OFFSET and GET_PTP_LOCK_OFFSET PTC commands.
In the inquiry linked above, it was observed that not explicitly setting PTP lock offset sometimes causes the value to reset to 1 us on at least OT128. While this is likely a sensor firmware bug, being able to set this offset from within Nebula should improve usability, and should eliminate the need to use Hesai's web interface or desktop GUI.

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[codecov]

Codecov Report

Attention: Patch coverage is 7.69231% with 24 lines in your changes missing coverage. Please review.

Project coverage is 26.07%. Comparing base (4e1c5ce) to head (d3c6bf4).

Files with missing lines	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	14 Missing ⚠️
nebula_ros/src/hesai/hesai_ros_wrapper.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #239      +/-   ##
==========================================
- Coverage   26.11%   26.07%   -0.05%     
==========================================
  Files         101      101              
  Lines        9213     9232      +19     
  Branches     2212     2213       +1     
==========================================
+ Hits         2406     2407       +1     
- Misses       6418     6436      +18     
  Partials      389      389              

Flag	Coverage Δ
differential	26.07% <7.69%> (?)
total	?

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[mojomex]

Evaluation

Sensor Model	SW Version	FW Version	Ctrl. FW Version	Works?
OT128	1.3.19	1.3.13	1.3.10	🟢
OT128 (bench)	1.4.01	1.4.1	1.4.1	🟢
QT128 (bench)	3.1.66	3.1.40	3.1.36	🟢
Pandar40P	2.10.4	4.3.40a	4.51	🔴
Pandar64	2.7.7	4.3.15b	5.10	🔴

Here is a demo of OT128:

ptp-lock-offset.mp4

It has been confirmed that by restarting Nebula, for OT128, the setting can revert to the old value (Hesai firmware bug or PTC documentation inaccurate). With this PR, it is immediately set to the desired value again.

For the other sensors tested that support th command, this bug was not observed. The value persisted over Nebula restarts.

[mojomex]

Restricting this feature to only affect OT128 and QT128, as other sensors have been found to not support it (maybe a firmware update would change that).

Sadly, the current architecture for sensor configurations in Nebula forces us to add the parameter to ALL Hesai sensors, even if without any effect.