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Intensity data not being published fix #6

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Intensity data not being published fix #6

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40 changes: 38 additions & 2 deletions src/urg_node2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,22 @@ bool UrgNode2::connect()

// 接続先のLiDARが強度出力に対応しているか
if (publish_intensity_) {
use_intensity_ = is_intensity_supported();
error_count_ = 0;
while (rclcpp::ok()) {
RCLCPP_INFO(get_logger(), "Trying to init intensity mode");
if (is_intensity_supported()) {
RCLCPP_INFO(get_logger(), "Intensity mode init success");
use_intensity_ = true;
break;
}
RCLCPP_WARN(get_logger(), "Failed to init intensity mode");
error_count_ += 1;
if (error_count_ > error_limit_) {
error_count_ = 0;
use_intensity_ = false;
break;
}
}
if (!use_intensity_) {
RCLCPP_WARN(
get_logger(),
Expand All @@ -303,7 +318,22 @@ bool UrgNode2::connect()
}
// 接続先のLiDARがマルチエコー出力に対応しているか
if (publish_multiecho_) {
use_multiecho_ = is_multiecho_supported();
error_count_ = 0;
while (rclcpp::ok()) {
RCLCPP_INFO(get_logger(), "Trying to init multiecho mode");
if (is_multiecho_supported()) {
RCLCPP_INFO(get_logger(), "Multiecho mode init success");
use_multiecho_ = true;
break;
}
RCLCPP_WARN(get_logger(), "Failed to init multiecho mode");
error_count_ += 1;
if (error_count_ > error_limit_) {
error_count_ = 0;
use_multiecho_ = false;
break;
}
}
if (!use_multiecho_) {
RCLCPP_WARN(
get_logger(),
Expand Down Expand Up @@ -396,6 +426,8 @@ void UrgNode2::disconnect()
urg_close(&urg_);
is_connected_ = false;
}
if (is_measurement_started_)
is_measurement_started_ = false;
}

// Lidarとの再接続処理
Expand Down Expand Up @@ -782,6 +814,8 @@ bool UrgNode2::is_intensity_supported(void)
int ret = urg_get_distance_intensity(&urg_, &distance_[0], &intensity_[0], NULL);
if (ret <= 0) {
// 強度出力非対応
urg_stop_measurement(&urg_);
is_measurement_started_ = false;
return false;
}

Expand All @@ -806,6 +840,8 @@ bool UrgNode2::is_multiecho_supported(void)
int ret = urg_get_multiecho(&urg_, &distance_[0], NULL);
if (ret <= 0) {
// マルチエコー出力非対応
urg_stop_measurement(&urg_);
is_measurement_started_ = false;
return false;
}

Expand Down