[Koichi98]

PR Type

• New Feature

Related Links

Depends on #467 (Stage 2: adopt synced agnocast_wrapper core), the shared nebula_core_ros compatibility PR (SyncToolingWorker), and the node.cpp build wiring (Stage 2 track). Sibling of the nebula_hesai agnocast application PR.

Description

Migrates ContinentalARS548RosWrapper (and its decoder / hw_interface helpers) from rclcpp::Node to nebula::agnocast_wrapper::Node. Publisher/subscription/service/diagnostic members switch to the NEBULA_* wrapper types; subscription callbacks take NEBULA_MESSAGE_CONST_SHARED_PTR (service callbacks keep the rclcpp-style shared_ptr signature, handled by the wrapper's convenience overload); publishes use ALLOCATE_OUTPUT_MESSAGE_UNIQUE; and the CMake agnocast_components_register_node executor becomes AgnocastOnlyCallbackIsolatedExecutor. Under ENABLE_AGNOCAST=0 it falls back to the rclcpp backend unchanged.

Review Procedure

Built with ENABLE_AGNOCAST=0 and =1. Ran logging_simulator + rosbag replay and confirmed objects_raw / scan_raw publish at ~10 Hz in both builds (agnocast build observed via ros2 topic hz_agnocast). Note: a Method-2 agnocast_wrapper::Node must be launched as a standalone executable with the heaphook preloaded (not as a component in the agnocast CIE container); the corresponding launcher change lives outside nebula.

Remarks

Recreated from the earlier draft attempt on this branch with the completed, build-verified migration.

⚠️ Must be merged atomically with #469 and #470

This PR passes an agnocast_wrapper::Node * to SyncToolingWorker, which only #469 makes it accept,
while #469 drops the rclcpp::Node support that un-migrated drivers still rely on. No sequential merge
order keeps main buildable, so #469 + #458 + #470 must land together.

[Koichi98]

Superseded: rebased onto #469 (feat/agnocast-core-node-compat) and moved to a fork-internal review PR (Koichi98#2). Will be merged into #469, then #469 into main.