[Koichi98]

PR Type

• Improvement

Related Links

• Stacked base for the hesai and continental driver migrations (reviewed in feat(nebula_hesai): migrate HesaiRosWrapper to agnocast_wrapper::Node Koichi98/nebula#1 and feat(continental_ars548_ros_wrapper): migrate ContinentalARS548RosWrapper to agnocast_wrapper::Node Koichi98/nebula#2, which merge into this branch). See the atomic-merge note below.

Description

Make the shared SyncToolingWorker compatible with agnocast_wrapper::Node.

Why hard-code agnocast_wrapper::Node * instead of a NodeT template: SyncToolingWorker holds a publisher member whose type depends on the backend. Unlike RateBoundStatus / LivenessMonitor, which take the node only in a templated constructor and keep no node-typed member, a templated constructor can't type that member — the only template option would be making the whole class a template with a decltype(node->create_publisher<...>(...))-deduced member. That would only add plain rclcpp::Node support, which no caller needs: SyncToolingWorker is used only by HesaiRosWrapper and ContinentalARS548RosWrapper, and both migrate to agnocast_wrapper::Node. Since the wrapper Node already abstracts the ENABLE_AGNOCAST=0/1 backend, agnocast_wrapper::Node * + NEBULA_PUBLISHER_PTR is simpler and sufficient.

⚠️ Must merge atomically with the driver migrations: without the templated constructor, SyncToolingWorker no longer accepts a plain rclcpp::Node *. On main the drivers are still rclcpp::Node and pass one, so merging this branch to main alone breaks the build; the migrations pass an agnocast_wrapper::Node * that the old constructor rejects. The hesai and continental migrations therefore merge into this branch first, and this branch goes to main only once both are integrated.

Review Procedure

Build with ENABLE_AGNOCAST=0 and =1 after the hesai / continental migrations are merged into this branch.

Remarks

None.

Pre-Review Checklist for the PR Author

• Assign PR to reviewer

CI Checks

• Build and test for PR: Required to pass before the merge.

[codecov]

Codecov Report

❌ Patch coverage is 43.47826% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 40.06%. Comparing base (d28c7e8) to head (014790e).
⚠️ Report is 1 commits behind head on main.

❌ Your patch check has failed because the patch coverage (30.00%) is below the target coverage (90.00%). You can increase the patch coverage or adjust the target coverage.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #469      +/-   ##
==========================================
+ Coverage   40.00%   40.06%   +0.06%     
==========================================
  Files         132      135       +3     
  Lines       10284    10328      +44     
  Branches     5399     5397       -2     
==========================================
+ Hits         4114     4138      +24     
- Misses       3777     3806      +29     
+ Partials     2393     2384       -9     

Flag	Coverage Δ
nebula_continental	29.77% <43.47%> (?)
nebula_core_ros	29.77% <43.47%> (?)
nebula_hesai	29.77% <43.47%> (?)

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[mojomex]

LGTM. Confirmed Nebula compiles&runs with and without Agnocast enabled.

Tested with rosbags for both OT128 and ARS548.