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Recheck intensity support when restarting the driver #58

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Recheck intensity support when restarting the driver #58

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2 changes: 2 additions & 0 deletions include/urg_node/urg_node_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,8 @@ class UrgNode
bool synchronize_time_;
bool publish_intensity_;
bool publish_multiecho_;
bool intensity_enabled_;
bool multiecho_enabled_;
int error_limit_;
double diagnostics_tolerance_;
double diagnostics_window_time_;
Expand Down
16 changes: 9 additions & 7 deletions src/urg_node_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -365,20 +365,22 @@ bool UrgNode::connect()
try
{
urg_.reset(); // Clear any previous connections();
intensity_enabled_ = publish_intensity_;
multiecho_enabled_ = publish_multiecho_;
if (!ip_address_.empty())
{
urg_.reset(new urg_node::URGCWrapper(ip_address_, ip_port_,
publish_intensity_, publish_multiecho_, synchronize_time_));
intensity_enabled_, multiecho_enabled_, synchronize_time_));
}
else
{
urg_.reset(new urg_node::URGCWrapper(serial_baud_, serial_port_,
publish_intensity_, publish_multiecho_, synchronize_time_));
intensity_enabled_, multiecho_enabled_, synchronize_time_));
}

std::stringstream ss;
ss << "Connected to";
if (publish_multiecho_)
if (multiecho_enabled_)
{
ss << " multiecho";
}
Expand All @@ -391,7 +393,7 @@ bool UrgNode::connect()
ss << " serial";
}
ss << " device with";
if (publish_intensity_)
if (intensity_enabled_)
{
ss << " intensity and";
}
Expand Down Expand Up @@ -508,7 +510,7 @@ void UrgNode::scanThread()
try
{
boost::mutex::scoped_lock lock(lidar_mutex_);
if (publish_multiecho_)
if (multiecho_enabled_)
{
const sensor_msgs::MultiEchoLaserScanPtr msg(new sensor_msgs::MultiEchoLaserScan());
if (urg_->grabScan(msg))
Expand Down Expand Up @@ -551,7 +553,7 @@ void UrgNode::scanThread()
service_yield_ = false;
}

// Reestablish conneciton if things seem to have gone wrong.
// Reestablish connection if things seem to have gone wrong.
if (error_count_ > error_limit_)
{
ROS_ERROR_THROTTLE(10.0, "Error count exceeded limit, reconnecting.");
Expand All @@ -576,7 +578,7 @@ void UrgNode::run()
diagnostics_thread_.join();
}

if (publish_multiecho_)
if (multiecho_enabled_)
{
echoes_freq_.reset(new diagnostic_updater::HeaderlessTopicDiagnostic("Laser Echoes",
*diagnostic_updater_,
Expand Down