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docs(README): update features of Nebula #55

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Aug 21, 2023
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docs(README): update features of Nebula #55

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10 changes: 9 additions & 1 deletion README.md
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Nebula is a sensor driver platform that is designed to provide a unified framework for as wide a variety of devices as possible.
While it primarily targets Ethernet-based LiDAR sensors, it aims to be easily extendable to support new sensors and interfaces.
Nebula provides the following features:
- Support for Velodyne and Hesai sensors, with other LiDAR vendor support under development
- ROS 2 interface implementations
- Abstraction of sensor decoders and hardware interfaces available as libraries
- TCP/IP and UDP communication implementations
- Abstraction of sensor decoders and hardware interfaces available as libraries
- Handling of standard LiDAR functionality, including but not limited to:
- Configuration of communication settings such as sensor and host IP addresses and communication ports
- Configuration of scan speed, synchronization settings, scan phase, and field of view
- Receiving and conversion of UDP packet data into point clouds in Cartesian co-ordinates
- Receiving and interpretation of diagnostics information from the sensor
- Support for multiple return modes and labelling of return types for each point


With a rapidly increasing number of sensor types and models becoming available, and varying levels of vendor and third-party driver support, Nebula creates a centralized driver methodology. We hope that this project will be used to facilitate active collaboration and efficiency in development projects by providing a platform that reduces the need to re-implement and maintain many different sensor drivers. Contributions to extend the supported devices and features of Nebula are always welcome.

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