feat: expansion of sensor interface support, multi-distro build system, and batch instruction logic (tracks #68)#69
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Add new T171 MSE UI v1.0.0, T169 MSE v1.1.0, T152 v1.5.0 and T171 v1.4.0.
…d extensible batch-instruction interfaces
New Interfaces
- UMMR9F T169 v3_0_0
- UMMR9F T169 MSE v1_3_0
- UMRRA4 MSE v2_1_0
- UMRRA1 T166 v1_0_0
- UMRRA1 T166 v2_0_0
Smartmicro_radar_node Node & Core Logic:
- New interfaces: Implemented callbacks for new Interfaces
- Services: Implemented new get Status and get Mode services.
- Validation: Added comprehensive checks for sensor IDs, section names, and array length consistency.
- Error Handling: Implemented try-catch blocks for string conversion and range-limit validation for unsigned integers.
Infrastructure & CI/CD:
- Multi-distro support: Updated Dockerfile and docker-compose for ROS 2 Foxy, Humble, and Jazzy.
- CI/CD: Configured dockerbuild.yml to trigger builds based on the 'distro' input argument.
- Build System: Updated CMakeLists.txt to include new interfaces and sensor dependencies.
RViz & Plugins:
- Firmware Update Refactor: Transitioned to a thread-safe UpdateService class using std::condition_variable to prevent RViz UI blocking.
- UI Enhancements: Improved Download Plugin layout and updated smart_plugin.rviz config.
- Service Plugin: Added Get Status/Mode interfaces and read/write functionality.
Simulator & custom message:
- Service Expansion: Integrated GetMode and GetStatus services.
Documentation:
- Updated README.md with multi-distro instructions and the new service API structure.
BREAKING CHANGE: Service interfaces now use string arrays ('params', 'values') and
a 'value_types' array instead of single-value fields. This enables multi-parameter.
- updated Dockerfile with dependencies. - reintroduced build and test on PR and master. - updated release in extract script. - modified json fetch in cmaked to avoid certifciates issue. - removed comments from update.h file. - updated the simualtor communication files. - readjusted the param file to work with the simulators. - updated test to include new field section when sending service. - resolved linting in main node.
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smartSRA
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smartBUILDBOT
previously approved these changes
Mar 3, 2026
smartBUILDBOT
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Mar 3, 2026
nlsxp
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Mar 26, 2026
feat: included new sensor ifaces, multi-distro support and implemented extensible batch-instruction interfaces (smartmicro#69)
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Summary
This PR addresses issue #68. It expands the node's service capabilities with a new batch-instruction logic.
Key Changes