RST-9755 Move service calls to power cycle lidars to the uam_node #37
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carlos-m159
reviewed
Apr 18, 2024
urg_node/src/uam/uam_driver_ros.cpp
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| @@ -229,7 +294,8 @@ void UamROS::configureTimerCallback(const ros::TimerEvent& event) | |||
| if (!configured_ && !configure()) | |||
| { | |||
| // Configuration failed. Restart the timer to try again. | |||
| configure_timer_.start(); | |||
| ROS_ERROR_STREAM("Failed to configure the lidar. Retrying in " << params_.reconfiguration_timeout.toSec() | |||
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Why did you remove the timer? Timer is stopped at the top, this will never run again if it fails to connect to the lidar
urg_node/src/uam/uam_driver_ros.cpp
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| if (should_reset_lidar) | ||
| { | ||
| ROS_WARN_STREAM("Trying to restart the lidar."); | ||
| if (lidarHardReset()) | ||
| { | ||
| ROS_WARN_STREAM("Lidar reset successful. Reconfiguring the lidar."); | ||
| triggerReconfigure(); | ||
| } | ||
| } |
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Suggested change
| if (should_reset_lidar) | |
| { | |
| ROS_WARN_STREAM("Trying to restart the lidar."); | |
| if (lidarHardReset()) | |
| { | |
| ROS_WARN_STREAM("Lidar reset successful. Reconfiguring the lidar."); | |
| triggerReconfigure(); | |
| } | |
| } | |
| if (should_reset_lidar) | |
| { | |
| ROS_WARN_STREAM("Trying to restart the lidar."); | |
| if (lidarHardReset()) | |
| { | |
| ROS_WARN_STREAM("Lidar reset successful."); | |
| } | |
| } | |
| triggerReconfigure(); |
urg_node/src/uam/uam_driver_ros.cpp
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Comment on lines
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| else{ | ||
| triggerReconfigure(); | ||
| } |
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Suggested change
| else{ | |
| triggerReconfigure(); | |
| } |
SushiRaj99
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carlos-m159
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Apr 23, 2024
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This PR moves the service calls to power cycle the lidars from the lidar_check node in locus_vector to the urg_node. This is being done in order to reduce the number of unnecessary lidar restarts being seen on Vector 1.2
laser_restart.webm