[DRAFT] Basic implementation of TLV parser & pointcloud publisher

.clang-format

@@ -0,0 +1 @@
+BasedOnStyle: LLVM

.github/workflows/cpp-formatter.yml

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+name: C++ Formatting Check
+
+on: [push, pull_request]
+
+jobs:
+  cpp_formatter:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Clang Formatter
+        uses: DoozyX/clang-format-lint-action@v0.18.1
+        with:
+          clangFormatVersion: 14
+          source: "src"

.github/workflows/mkdocs.yml

@@ -0,0 +1,26 @@
+name: ci 
+on:
+  push:
+    branches:
+      - main
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.x
+      - run: echo "cache_id=$(date --utc '+%V')" >> $GITHUB_ENV 
+      - uses: actions/cache@v3
+        with:
+          key: mkdocs-material-${{ env.cache_id }}
+          path: .cache
+          restore-keys: |
+            mkdocs-material-
+      - run: sudo apt-get -y install doxygen
+      - run: pip install mkdocs-material 
+      - run: pip install mkdoxy
+      - run: mkdocs gh-deploy --force

.github/workflows/ros2_build_ros2_debian_package.yml

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+name: Build Debian Packages (ROS2 Jazzy)
+on:
+  workflow_dispatch:
+  release:
+    types: [created]
+jobs:
+  build-debian-packages:
+    runs-on: ubuntu-latest
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Install required packages
+        run: sudo apt-get update && sudo apt-get install libsdl2-dev -y
+      - name: Checkout this repository
+        uses: actions/checkout@v2.3.4
+      - name: Build Debian packages
+        uses: ichiro-its/ros2-build-debian-action@main
+        with:
+          ros2-distro: jazzy
+      - name: Upload Release Asset
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+            REPO_FULL=$(gh repo view --json nameWithOwner --jq .nameWithOwner)
+            TAG_NAME=$(gh release view --repo "$REPO_FULL" --json tagName --jq ".tagName")
+
+            gh release upload "$TAG_NAME" package/*.deb --repo "$REPO_FULL"

.github/workflows/ros2_jazzy_code_compiles.yml

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+name: ros2_jazzy_code_compiles
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+  workflow_dispatch: {}
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install required packages
+        # To compile and run the code we require cmake, ninja and opencv
+        run: sudo apt-get update && sudo apt-get install build-essential cmake ninja-build ros-jazzy-diagnostic-updater libsdl2-dev
+
+      - name: Install dependencies
+        working-directory: ${{ github.workspace }}
+        run: |
+          sudo rosdep init || true
+          rosdep update --rosdistro=jazzy
+
+      - name: Colcon build
+        working-directory: ${{ github.workspace }}
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build

.github/workflows/ros2_jazzy_code_compiles_windows.yml

@@ -0,0 +1,22 @@
+name: ROS2 Jazzy with Pixi on Windows
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+      - name: Setup Pixi
+        uses: prefix-dev/setup-pixi@v0.8.3
+
+      - name: Run colcon build (Release Mode)
+        shell: cmd
+        run: pixi run build
+

.github/workflows/ros2_jazzy_conda_package_linux.yml

@@ -0,0 +1,32 @@
+name: Create ROS2 Jazzy package on Linux
+
+on:
+  workflow_dispatch:
+  release:
+    types: [created]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Install Pixi
+        uses: prefix-dev/setup-pixi@v0.8.3
+
+      - name: Build package with Pixi
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        shell: pixi run bash -e {0}
+        run: |
+            source rattler/set_build_var.sh
+            rattler-build build --recipe rattler/recipe.yaml -c conda-forge -c https://prefix.dev/robostack-jazzy --package-format tar-bz2
+      - name: Upload Release Asset
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          REPO_FULL=$(gh repo view --json nameWithOwner --jq .nameWithOwner)
+          TAG_NAME=$(gh release view --repo "$REPO_FULL" --json tagName --jq ".tagName")
+
+          gh release upload "$TAG_NAME" output/linux-64/ros-jazzy-*.tar.bz2 --repo "$REPO_FULL"
+

.github/workflows/ros2_jazzy_conda_package_win.yml

@@ -0,0 +1,56 @@
+name: Create ROS2 Jazzy package on Windows
+
+on:
+  workflow_dispatch:
+  release:
+    types: [created]
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Install Pixi
+        uses: prefix-dev/setup-pixi@v0.8.3
+
+
+      - name: Build package with Pixi (Windows)
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        shell: pwsh
+        run: |
+          rattler/set_build_var.ps1
+          pixi run rattler-build build --recipe rattler/recipe.yaml -c conda-forge -c https://prefix.dev/robostack-jazzy --package-format tar-bz2
+
+
+      - name: Upload Windows Conda Package to GitHub Release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        shell: pwsh
+        run: |
+          $ErrorActionPreference = "Stop"
+
+          $repo = (gh repo view --json nameWithOwner | ConvertFrom-Json).nameWithOwner
+
+          $tag = gh release view --repo $repo --json tagName --jq ".tagName"
+
+          $pkg = Get-ChildItem "output/win-64/ros-jazzy-*.tar.bz2" |
+            Where-Object { $_.Extension -in ".bz2", ".conda" } |
+            Sort-Object LastWriteTime -Descending |
+            Select-Object -First 1
+
+          if (-not $pkg) {
+            Write-Error "❌ No conda package found in win-64."
+          }
+
+          if ($pkg.Name -like "*.tar.bz2") {
+            $renamed = $pkg.FullName -replace '\.tar.bz2$', '-win.tar.bz2'
+            Copy-Item $pkg.FullName $renamed
+          } else {
+            $renamed = $pkg.FullName
+          }
+
+          gh release upload $tag $renamed --repo $repo --clobber

.gitignore

@@ -30,3 +30,19 @@
 *.exe
 *.out
 *.app
+
+# ROS2 build folders
+build/
+install/
+log/
+
+
+# Rattler build folders
+output/
+
+# IDE folders
+.vscode/
+
+# Pixi artifacts
+pixi.lock
+.pixi/

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.1...3.14)
+project(ti_iwr_pointcloud C CXX)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+include(FetchContent)
+
+FetchContent_Declare(
+   Serial
+   GIT_REPOSITORY https://github.com/ami-iit/serial_cpp.git
+   GIT_TAG v1.3.0
+)
+FetchContent_MakeAvailable(Serial)
+
+
+add_executable(publish_node src/publish_node.cpp
+                            src/packet_parser/packet_parser.cpp
+                            src/packet_parser/serial_data_parser.cpp
+                            src/packet_parser/serial_cmd_parser.cpp
+                            src/packet_parser/tlv_parser.cpp)
+
+ament_target_dependencies(publish_node
+   rclcpp
+   sensor_msgs
+)
+target_link_libraries(publish_node "${cpp_typesupport_target}" serial_cpp::serial_cpp)
+target_include_directories(publish_node PUBLIC src/)
+
+if(UNIX AND NOT APPLE)  # Linux only
+ target_compile_options(publish_node PRIVATE -Wall)
+endif()
+
+install(TARGETS
+publish_node
+DESTINATION lib/${PROJECT_NAME}) 
+
+ament_package()

colcon.pkg

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+{
+    "name": "ti_iwr_pointcloud",
+    "cmake-args":[
+        "-G Ninja"
+    ]
+}

docs/about/implementation.md

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+# 🌟 **`publish_node` - Radar PointCloud Publisher**
+
+Publishes 3D radar point cloud data as `sensor_msgs/PointCloud2` by interfacing with a custom radar parser (`PacketParser`). Ideal for integrating Texas Instruments radar sensors with ROS 2.
+
+---
+
+### ✅ Topics
+
+| Topic               | Type                             | Description                             |
+|---------------------|----------------------------------|-----------------------------------------|
+| `/radar_3d_points`  | `sensor_msgs/msg/PointCloud2`    | 3D radar point cloud with SNR as intensity |
+
+---
+
+### ⚙️ Parameters
+
+| Name             | Type     | Default Value                                  | Description                                |
+|------------------|----------|------------------------------------------------|--------------------------------------------|
+| `cfg_path`       | string   | `"../radar/cfg/cfg_default_30fps.cfg"`         | Path to the radar configuration file       |
+| `cli_port`       | string   | `"/dev/pts/2"`                                 | Serial port for radar CLI control          |
+| `cli_baudrate`   | int      | `115200`                                       | Baudrate for the CLI port                  |
+| `data_port`      | string   | `"/dev/pts/6"`                                 | Serial port for radar data stream          |
+| `data_baudrate`  | int      | `921600`                                       | Baudrate for the data port                 |
+| `publish_topic`  | string   | `"/radar_3d_points"`                           | Topic name to publish the point cloud data |
+
+---
+
+### 📦 Message Notes
+
+- `sensor_msgs/msg/PointCloud2` fields:
+  - `x`, `y`, `z`: Cartesian coordinates (float32)
+  - `intensity`: SNR value (float32), mapped from radar point's `snr`
+
+---
+
+### 🧩 Implementation Notes
+
+- Built using **`rclcpp`**.
+- Uses a **separate thread** for processing and publishing radar frames.
+- Interfaces with a custom radar parser (`PacketParser`).
+- Uses a **condition variable and mutex** for frame queue synchronization.
+- Each received radar frame is converted into a ROS 2 `PointCloud2` message.
+- The frame is published to a topic specified by a **configurable parameter**.
+
+---
+
+### 🏁 Launch Example
+
+```bash
+ros2 run ti_iwr_pointcloud publish_node
+```
+
+---
+
+### 🧪 Dependencies
+
+- `rclcpp`
+- `sensor_msgs`
+- `serial_cpp`
+- Custom radar parser (PacketParser)
+- Parameter server for dynamic config
+- C++ standard threading and synchronization

docs/assets/stylesheets/logo.css

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+.md-header__button.md-logo {
+    margin-top: 0;
+    margin-bottom: 0;
+    padding-top: 0;
+    padding-bottom: 0;
+  }
+
+  .md-header__button.md-logo img,
+  .md-header__button.md-logo svg {
+    height: 10%;
+    width: 10%;
+  }

docs/contributing/license.md

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+# License
+
+This work is licensed under the apache-2.0 license.
+

docs/contributing/rules.md

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+# Contribution rules
+
+For contributing we recommend creating a fork and when ready a pull request to merge the changes with this repository. 
+In the pull request please state:
+
+- What has been added/changed?
+- Some reasoning about implementation details
+
+Please don't do refactors without consent of administrators <RichardKroesen & Hoog-V> as we will not merge them.
+
+## New features
+
+If you have any cool feature/idea to add to the code, please start an issue in GitHub to introduce the idea to the maintainers.
+
+
+