Add connection timeout and respawn options #105
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multisense_ros/src/ros_driver.cpp
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| if (Status_Ok != status_result) { | ||
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| if (ros::Time::now() - last_warning > warn_delay) { | ||
| ROS_WARN("multisense_ros: lost connection with camera"); |
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This warning is fairly aggressive. Consider softening the language.
| } | ||
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| if (timeout > ros::Duration{0} && ros::Time::now() - last_status > timeout) { | ||
| ROS_ERROR("multisense_ros: shutting down due to connection timeout"); |
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Consider changing this to something like "reinitializing connection with the MultiSense"
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I'm not sure what less harsh comment would be applicable. During shutdown, we only respawn if the respawn argument was also passed, so I don't quite want to say that here. After this comment, we also exit with an error code, so it seems acceptable to be harsh
| ros::spinOnce(); | ||
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| system::StatusMessage statusMessage; | ||
| const auto status_result = d->getDeviceStatus(statusMessage); |
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This will only get updated at 1Hz under the hood.
| const auto status_result = d->getDeviceStatus(statusMessage); | ||
| if (Status_Ok != status_result) { | ||
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| if (ros::Time::now() - last_warning > warn_delay) { |
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Seems like this might be too chatty when a single status message is dropped
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@mattalvarado I have updated so it does not print a warning until the status message has been missing for a full second, and only print at 1Hz to match the status message publish rate. The comment in the launch file for the camera_timeout setting also indicates times of 3s or more should be preferred |
The
camera_timeout_swill cause the multisense node to shut down if it cannot communicate with the camera forcamera_timeout_sseconds. Setting this value <=0 will disable the timeout checkThe
respawnbeing true means the multisense launch file will attempt to re-launch the node if it is shut downUsed together these two options can be used to automatically re-connect to a camera after it is disconnected/reconnected or power cycled