feat: hesai ptp setup parameters

[amc-nu]

PR Type

• New Feature

Description

Add support to the hesai hw interface to setup the Lidar's PTP profile.

Review Procedure

You can now set up the PTP profile using the following arguments in the XML and Python launch files.

<arg name="ptp_profile" default="1588v2" description="1588v2|802.1as|automotive"/>
<arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
<arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>

Remarks

• Make sure you have a PTP server running on the host PC
• Only some of the sensors support all the available profiles. Please verify the respective manuals to the corresponding model you are testing with.

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• Commits are properly organized and messages are according to the guideline
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• PR title describes the changes

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• All open points are addressed and tracked via issues or tickets

CI Checks

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[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0% with 119 lines in your changes are missing coverage. Please review.

Project coverage is 8.35%. Comparing base (910d12b) to head (1d59276).

Files	Patch %	Lines
nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp	0.00%	55 Missing ⚠️
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00%	33 Missing ⚠️
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	31 Missing ⚠️

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Additional details and impacted files

@@           Coverage Diff            @@
##            main    #110      +/-   ##
========================================
+ Coverage   6.58%   8.35%   +1.76%     
========================================
  Files        136      67      -69     
  Lines      10987    8232    -2755     
  Branches     869     859      -10     
========================================
- Hits         724     688      -36     
+ Misses      9677    6960    -2717     
+ Partials     586     584       -2     

Flag	Coverage Δ
differential	8.35% <0.00%> (?)
total	?

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[drwnz]

I tested PTP operation and the xml launchfiles. The Python launchfile does not appear to work. It does not set the rotation speed, which has a default as a non-integer causing a launch error. I will submit a PR for the rotation error issue, but the python launcher should probably access more setting (like rotation speed, destination IP).

[drwnz]

LGTM, thanks!