Support high precision timestamp extension

[at-wat]

• Internally use 64bit microseconds timestamp
• Use high precision timestamp extension of TM/MD/ME commands
  • Add ClockEstimator and ScanEstimator for high precision timestamp

[Copilot]

Pull Request Overview

This PR implements support for high precision timestamp extensions in the URG sensor system by transitioning from 24-bit millisecond timestamps to 64-bit microsecond timestamps. The key changes enable compatibility with newer sensor firmware versions (4.1.0+) that support extended SCIP2 commands with microsecond-resolution timestamps.

Key changes:

• Introduced 64-bit microsecond timestamp resolution (WALL_TIMESTAMP_RESOLUTION) to replace millisecond resolution
• Added ClockEstimatorRaw and ScanEstimatorRaw classes for high precision timestamp handling
• Extended protocol support with "%" prefix commands for high precision modes

Reviewed Changes

Copilot reviewed 24 out of 24 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
include/urg_stamped/device_state_estimator.h	Added new estimator classes and updated timestamp resolution constants
include/scip2/walltime.h	Modified to accept microsecond timestamps while maintaining millisecond-based overflow detection
include/scip2/response/time_sync.h	Extended timestamp parsing to support both 4-byte and 11-byte formats
include/scip2/response/stream.h	Extended scan data timestamp parsing for both precision modes
include/scip2/response.h	Added prefix-based response registration to handle "%" commands
src/device_state_estimator.cpp	Updated timestamp resolution references
src/clock_estimator_raw.cpp	New estimator implementation for high precision timestamps
src/scan_estimator_raw.cpp	New scan estimator for raw timestamp handling
src/urg_stamped.cpp	Integrated high precision mode detection and command prefix handling
src/urg_sim/urg_sim.cpp	Added high precision timestamp simulation support
test/src/test_device_state_estimator.cpp	Updated test values to microsecond scale
test/src/test_walltime.cpp	Updated test values to microsecond scale

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[codecov]

Codecov Report

❌ Patch coverage is 88.32117% with 32 lines in your changes missing coverage. Please review.
✅ Project coverage is 81.79%. Comparing base (752e1bf) to head (8c753dc).

Files with missing lines	Patch %	Lines
src/urg_sim/urg_sim.cpp	74.07%	14 Missing ⚠️
include/scip2/response/stream.h	71.42%	6 Missing ⚠️
src/clock_estimator_raw.cpp	90.38%	5 Missing ⚠️
include/scip2/response/time_sync.h	86.95%	3 Missing ⚠️
src/urg_stamped.cpp	92.85%	2 Missing ⚠️
include/scip2/walltime.h	92.85%	1 Missing ⚠️
src/scan_estimator_utm.cpp	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #187      +/-   ##
==========================================
- Coverage   83.73%   81.79%   -1.94%     
==========================================
  Files          28       30       +2     
  Lines        1832     1989     +157     
==========================================
+ Hits         1534     1627      +93     
- Misses        298      362      +64     

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[sqbot]

✅ Passed noetic 3.20

Log summary

• Action Run Summary

Summary

noetic built:	1
noetic tried:	1
noetic deleted:	0
noetic total built:	1
noetic total relevant aports:	1
noetic total aports:	1

urg_stamped

ros-noetic-urg-stamped-0.4.1_git20251225062135-r0.apk
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