refactor(nebula_ros): combine Hesai wrapper nodes into one

This is step one of the single node refactoring of Nebula.
In this step, only the three Hesai wrapper nodes were combined into one, and no optimizations have been done that are made possible by this refactoring.

The next step is to do those optimizations (e.g. get rid of unnecessary pointcloud copying).

nebula_common/CMakeLists.txt

@@ -40,6 +40,8 @@ ament_auto_add_library(nebula_common SHARED
         src/velodyne/velodyne_calibration_decoder.cpp
         )
 
+target_link_libraries(nebula_common yaml-cpp)
+
 ament_auto_package()
 
 # Set ROS_DISTRO macros

nebula_ros/CMakeLists.txt

@@ -33,34 +33,13 @@ include_directories(
 )
 link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES})
 ## Hesai
-# Hw Interface
-ament_auto_add_library(hesai_hw_ros_wrapper SHARED
-        src/hesai/hesai_hw_interface_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_ros_wrapper
-        PLUGIN "HesaiHwInterfaceRosWrapper"
-        EXECUTABLE hesai_hw_interface_ros_wrapper_node
-        )
-
-# Monitor
-ament_auto_add_library(hesai_hw_monitor_ros_wrapper SHARED
-        src/hesai/hesai_hw_monitor_ros_wrapper.cpp
-        )
-
-rclcpp_components_register_node(hesai_hw_monitor_ros_wrapper
-        PLUGIN "HesaiHwMonitorRosWrapper"
-        EXECUTABLE hesai_hw_monitor_ros_wrapper_node
-        )
-
-# DriverDecoder
-ament_auto_add_library(hesai_driver_ros_wrapper SHARED
-        src/hesai/hesai_decoder_ros_wrapper.cpp
+ament_auto_add_library(hesai_ros_wrapper SHARED
+        src/hesai/hesai_ros_wrapper.cpp
         )
 
-rclcpp_components_register_node(hesai_driver_ros_wrapper
-        PLUGIN "HesaiDriverRosWrapper"
-        EXECUTABLE hesai_driver_ros_wrapper_node
+rclcpp_components_register_node(hesai_ros_wrapper
+        PLUGIN "HesaiRosWrapper"
+        EXECUTABLE hesai_ros_wrapper_node
         )
 
 ## Velodyne

nebula_ros/include/nebula_ros/common/nebula_ros_wrapper_base.hpp

@@ -0,0 +1,68 @@
+#pragma once
+
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_common/nebula_status.hpp"
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <string>
+#include <vector>
+
+namespace nebula
+{
+namespace ros
+{
+/// @brief Base class for ros wrapper of each sensor driver
+class NebulaRosWrapperBase
+{
+public:
+  NebulaRosWrapperBase() = default;
+
+  NebulaRosWrapperBase(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase & operator=(NebulaRosWrapperBase && c) = delete;
+  NebulaRosWrapperBase(const NebulaRosWrapperBase & c) = delete;
+  NebulaRosWrapperBase & operator=(const NebulaRosWrapperBase & c) = delete;
+
+  /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface)
+  /// @return Resulting status
+  virtual Status StreamStart() = 0;
+
+  /// @brief Stop point cloud streaming (not used)
+  /// @return Resulting status
+  virtual Status StreamStop() = 0;
+
+  /// @brief Shutdown (not used)
+  /// @return Resulting status
+  virtual Status Shutdown() = 0;
+
+private:
+  /// @brief Virtual function for initializing hardware interface ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwInterface(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing hardware monitor ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeHwMonitor(
+    const drivers::SensorConfigurationBase & sensor_configuration) = 0;
+
+  /// @brief Virtual function for initializing ros wrapper
+  /// @param sensor_configuration SensorConfiguration for this driver
+  /// @param calibration_configuration CalibrationConfiguration for this driver
+  /// @return Resulting status
+  virtual Status InitializeCloudDriver(
+    std::shared_ptr<drivers::SensorConfigurationBase> sensor_configuration,
+    std::shared_ptr<drivers::CalibrationConfigurationBase> calibration_configuration) = 0;
+
+  /// @brief Point cloud publisher
+  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloud_pub_;
+};
+
+}  // namespace ros
+}  // namespace nebula