chore(hesai,velodyne): combine connection-related parameters into connection_mode

[mojomex]

PR Type

• Improvement

Related Links

• feat: allow to launch hardware in listen mode #210 -- motivation for this PR

Description

With #210, the connection-related parameters for Hesai and Velodyne sensors became a total of three each (udp_only, launch_hw and setup_sensor), resulting in 8 possible combinations, of which only four were valid:

• launch_hw && setup_sensor && !udp_only -- fullly connected
• launch_hw && !setup_sensor && !udp_only -- skip sensor setup but otherwise fully connected
• launch_hw && !setup_sensor && udp_only -- UDP-only mode
• !launch_hw -- offline mode

This PR combines the three parameters into one enum, connection_mode, which can be one of offline, udp_only, skip_setup and full.

Sensors that do not have TCP support and which do not support sensor setup are left untouched. They remain having one launch_hw parameter.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 37 lines in your changes missing coverage. Please review.

Project coverage is 25.87%. Comparing base (214373a) to head (e29d0cd).

Files with missing lines	Patch %	Lines
nebula_ros/src/hesai/hesai_ros_wrapper.cpp	0.00%	14 Missing ⚠️
nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp	0.00%	7 Missing ⚠️
nebula_ros/src/velodyne/hw_interface_wrapper.cpp	0.00%	6 Missing ⚠️
...ula_common/include/nebula_common/nebula_common.hpp	0.00%	5 Missing ⚠️
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #211      +/-   ##
==========================================
- Coverage   25.88%   25.87%   -0.02%     
==========================================
  Files          99       99              
  Lines        9190     9195       +5     
  Branches     2211     2215       +4     
==========================================
  Hits         2379     2379              
- Misses       6426     6431       +5     
  Partials      385      385              

Flag	Coverage Δ
differential	25.87% <0.00%> (?)
total	?

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[msz-rai]

Just a small comment from me after a quick look at the PR:
It seems that the launch files should also be modified.

Overall, nice work 👍