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PepperlFuchs / pf_lidar_ros_driver

ROS driver for Pepperl+Fuchs R2000 and R2300 laser scanners
https://www.pepperl-fuchs.com/global/en/23097.htm
Apache License 2.0
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config.watchdog is always true #45

Closed wsaihopfsg closed 3 years ago

wsaihopfsg commented 3 years ago

In the virtual function get_scanoutput_config in pfsdp_protocol.hpp, the json_keys for "watchdog" is missing during the invocation of get_request, resulting in config.watchdog being always true.

Original code: https://github.com/PepperlFuchs/ROS_driver/blob/80c423ad038d2ff197bd81588ad40ee3f3cd56e5/pf_driver/include/pf_driver/pf/pfsdp_protocol.hpp#L385

New code:

auto resp = get_request("get_scanoutput_config", {"start_angle", "packet_type", "watchdogtimeout", "skip_scans", "watchdog"}, { KV("handle", handle) });
hsd-dev commented 3 years ago

Solved in https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/46