Reconnection behavior

[lowellausen]

Related Issues & PRs

This same reconnection behavior for ROS1: #119
The issue it started from: #55

Summary of Changes

Idea adapted to ROS2 from this PR: #119

Added reconnection behavior

• New retry_configuration parameter that sets if we want to use the new reconnection behavior or not. Initially I've defaulted it to false as not to change current behavior automatically, ideas?
• Makes config an attribute so we can reuse it in the connection loop
• Adds logic to the configure_sensor() and to connection_loop() methods so that we can retry to configure the sensor
• [QUESTIONABLE CHANGE MARK] Added throttling to the logs that come when trying to reconnect, to avoid the consequent spamming

Validation

• Starting the system with sensor and/or ethernet cable disconnected
  • If retry_configuration
    • Driver will keep trying to configure the sensor until it's connected
    • Logs are throttled
  • Else
    • Same behavior as before: driver will fail to configure the sensor and stop trying
• Same if the sensor is disconnected during runtime after it's already been configured