The timelimit in the launch file does not take effect

[FlyHan]

The timeout is determined by const(timeout = 30000), but it has nothing to do with timelimit

sick_scan_common_tcp.cpp:

int SickScanCommonTcp::get_datagram(ros::Time &recvTimeStamp, unsigned char *receiveBuffer, int bufferSize,
                                      int *actual_length,
                                      bool isBinaryProtocol, int *numberOfRemainingFifoEntries)
    ...  
     /*
     * Write a SOPAS variable read request to the device.
     */
    std::vector<unsigned char> reply;

    // Wait at most 5000ms for a new scan
    size_t timeout = 30000;
    bool exception_occured = false;

    char *buffer = reinterpret_cast<char *>(receiveBuffer);

    if (readWithTimeout(timeout, buffer, bufferSize, actual_length, &exception_occured, isBinaryProtocol) !=
        ExitSuccess)
    ...

[rostest]

We recommend to use sick_scan_xd for further development. Regarding the issue, there are two different timelimits:

• the const timeout of 30 seconds is required, since a lidar response may take up to 30 seconds, and
• the timelimit configured in the launchfile is used as max. timeout during startup (max. timeout for a sopas response).