[Spinal][CAN] refactor the process when no neuron connected

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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[Spinal][CAN] refactor the process when no neuron connected #533

Closed tongtybj closed 2 years ago

tongtybj commented 2 years ago

What is this

No CAN communication if there is no any Neuron found in initialization phase.

Details

So far, Spinal will keep trying to contact with Neurons even if there is no any Neuron connected and detected. This will cause an very annoying message to rosserial "CAN is not connected". This PR patch avoids this message and also save the computation resource in spinal when Neurons are not connected.