ros-drivers / urg_node

ROS wrapper for the Hokuyo urg_c library.
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Add expected size check for AR00 DL00 command from UAM protocol specification. #106

Open richardw347 opened 1 year ago

richardw347 commented 1 year ago

I was a bit slow when I fixed this issue and didn't think to add a check for the message length so there's still a potential for it to fail with a std::length error. This PR adds a packet length check for the AR00 and DL00 from the UAM protocol specification.

The UAM manual doesn't seem to be easily available online so I've added some screen grabs of the two commands for reference:

AR00

image (19)

DL00

image (20)